|
|
from aip import AipBodyAnalysis
|
|
|
from cv2 import imencode
|
|
|
class myGesture:
|
|
|
"""
|
|
|
实现手势识别，缺点是只能用open函数读取本地照片
|
|
|
"""
|
|
|
# APPID AK SK
|
|
|
__APP_ID = '23524317'
|
|
|
__API_KEY = 'gezpEkWBPsa63SE7gRf4Lzlv'
|
|
|
__SECRET_KEY = '7urulBhtACXBsnq5YWWNwt4m15mLrj4V'
|
|
|
|
|
|
def __init__(self):
|
|
|
self.__client = AipBodyAnalysis(self.__APP_ID, self.__API_KEY, self.__SECRET_KEY)
|
|
|
|
|
|
def __recognition(self,image):
|
|
|
img_str = imencode('.jpg', image)[1].tobytes()
|
|
|
imagesResult = self.__client.gesture(img_str)
|
|
|
return imagesResult
|
|
|
def __getResult(self,images):
|
|
|
result = '' #空代表无效命令
|
|
|
#用try解决报错问题
|
|
|
try:
|
|
|
if len(images['result']) == 0:
|
|
|
return result
|
|
|
else:
|
|
|
if images['result'][0]['classname'] == 'Prayer':
|
|
|
result = "开始"
|
|
|
elif images['result'][0]['classname'] == 'Thumb_up':
|
|
|
result = "起飞"
|
|
|
elif images['result'][0]['classname'] == 'Thumb_down':
|
|
|
result = "降落"
|
|
|
elif images['result'][0]['classname'] == 'One':
|
|
|
result = "向上"
|
|
|
elif images['result'][0]['classname'] == 'Two':
|
|
|
result = "向下"
|
|
|
elif images['result'][0]['classname'] == 'Three':
|
|
|
result = "向左"
|
|
|
elif images['result'][0]['classname'] == 'Four':
|
|
|
result = "向右"
|
|
|
elif images['result'][0]['classname'] == 'Five':
|
|
|
result = "向前"
|
|
|
elif images['result'][0]['classname'] == 'Six':
|
|
|
result = "向后"
|
|
|
elif images['result'][0]['classname'] == 'Seven':
|
|
|
result = "顺时针旋转90度"
|
|
|
elif images['result'][0]['classname'] == 'Eight':
|
|
|
result = "逆时针旋转90度"
|
|
|
elif images['result'][0]['classname'] == 'Nine':
|
|
|
result = "悬停"
|
|
|
elif images['result'][0]['classname'] == 'Fist':
|
|
|
result = "在手上降落"
|
|
|
else:
|
|
|
result = ''
|
|
|
return result
|
|
|
except:
|
|
|
return ''
|
|
|
|
|
|
def getOrder(self,images):
|
|
|
"""
|
|
|
返回指令含义以及发送给无人机的指令，假如result或command为空字符串的话，代表无效指令
|
|
|
:param images: 原始图像帧
|
|
|
:return: (result,command)
|
|
|
"""
|
|
|
imagesResult = self.__recognition(images)
|
|
|
result = self.__getResult(imagesResult)
|
|
|
command = self.__action(result)
|
|
|
|
|
|
return (result,command)
|
|
|
|
|
|
|
|
|
def __action(self,result):
|
|
|
"""如果返回为空字符串的话代表无效指令"""
|
|
|
command = ''
|
|
|
if result == "开始":
|
|
|
command = "command"
|
|
|
elif result == "起飞":
|
|
|
command = "takeoff"
|
|
|
elif result == "降落":
|
|
|
command = "land"
|
|
|
elif result == "向上":
|
|
|
command = "up"
|
|
|
elif result == "向下":
|
|
|
command = "down"
|
|
|
elif result == "向左":
|
|
|
command = "left"
|
|
|
elif result == "向右":
|
|
|
command = "right"
|
|
|
elif result == "向前":
|
|
|
command = "forward"
|
|
|
elif result == "向后":
|
|
|
command = "back"
|
|
|
elif result == "顺时针旋转90度":
|
|
|
command = "cw 90"
|
|
|
elif result == "逆时针旋转90度":
|
|
|
command = "ccw 90"
|
|
|
elif result == "悬停":
|
|
|
command = "stop"
|
|
|
|
|
|
elif result == '':
|
|
|
command = ''
|
|
|
elif result == '在手上降落':
|
|
|
command = 'landhand'
|
|
|
|
|
|
return command |
