-
Notifications
You must be signed in to change notification settings - Fork 0
/
gesture_detection.py
410 lines (335 loc) · 15.7 KB
/
gesture_detection.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import csv
import copy
import itertools
import pickle
import cv2 as cv
import numpy as np
import mediapipe as mp
from utils import CvFpsCalc
from utils.generate_commands import CommandGenerator
def main():
cap_device = 0
cap_width = 960
cap_height = 540
use_static_image_mode = False
min_detection_confidence = 0.1
min_tracking_confidence = 0.5
use_brect = True
################################################################
cap = cv.VideoCapture(cap_device)
cap.set(cv.CAP_PROP_FRAME_WIDTH, cap_width)
cap.set(cv.CAP_PROP_FRAME_HEIGHT, cap_height)
##############################################################
mp_hands = mp.solutions.hands
hands = mp_hands.Hands(
static_image_mode=use_static_image_mode,
max_num_hands=1,
min_detection_confidence=min_detection_confidence,
min_tracking_confidence=min_tracking_confidence,
)
filename = 'models/logreg_complete.pkl'
model = pickle.load(open(filename, 'rb'))
commander = CommandGenerator()
############################################################
with open('models/keypoint_classifier_label.csv',
encoding='utf-8-sig') as f:
keypoint_classifier_labels = csv.reader(f)
keypoint_classifier_labels = [
row[0] for row in keypoint_classifier_labels
]
#########################################################
cvFpsCalc = CvFpsCalc(buffer_len=10)
#########################################################################
mode = 0
while True:
fps = cvFpsCalc.get()
##################################################
key = cv.waitKey(10)
if key == 27: # ESC
break
number, mode = select_mode(key, mode)
######################################################
ret, image = cap.read()
if not ret:
break
image = cv.flip(image, 1) # ミラー表示
debug_image = copy.deepcopy(image)
##############################################################
image = cv.cvtColor(image, cv.COLOR_BGR2RGB)
image.flags.writeable = False
results = hands.process(image)
image.flags.writeable = True
#####################################################################
if results.multi_hand_landmarks is not None:
for hand_landmarks, handedness in zip(results.multi_hand_landmarks,
results.multi_handedness):
brect = calc_bounding_rect(debug_image, hand_landmarks)
landmark_list = calc_landmark_list(debug_image, hand_landmarks)
pre_processed_landmark_list = pre_process_landmark(
landmark_list)
hand_sign_id = model.predict(pre_processed_landmark_list.reshape(1,-1))[0]
commander.add_gestures(hand_sign_id)
# print(commander.get_command())
debug_image = draw_bounding_rect(use_brect, debug_image, brect)
debug_image = draw_landmarks(debug_image, landmark_list)
debug_image = draw_info_text(
debug_image,
brect,
handedness,
keypoint_classifier_labels[hand_sign_id]
)
debug_image = draw_info(debug_image, fps, mode, number)
##############################################################
cv.imshow('Hand Gesture Recognition', debug_image)
cap.release()
cv.destroyAllWindows()
def select_mode(key, mode):
number = -1
if 48 <= key <= 57: # 0 ~ 9
number = key - 48
if key == 110: # n
mode = 0
if key == 107: # k
mode = 1
if key == 104: # h
mode = 2
return number, mode
def calc_bounding_rect(image, landmarks):
image_width, image_height = image.shape[1], image.shape[0]
landmark_array = np.empty((0, 2), int)
for _, landmark in enumerate(landmarks.landmark):
landmark_x = min(int(landmark.x * image_width), image_width - 1)
landmark_y = min(int(landmark.y * image_height), image_height - 1)
landmark_point = [np.array((landmark_x, landmark_y))]
landmark_array = np.append(landmark_array, landmark_point, axis=0)
x, y, w, h = cv.boundingRect(landmark_array)
return [x, y, x + w, y + h]
def calc_landmark_list(image, landmarks):
image_width, image_height = image.shape[1], image.shape[0]
landmark_point = []
for _, landmark in enumerate(landmarks.landmark):
landmark_x = min(int(landmark.x * image_width), image_width - 1)
landmark_y = min(int(landmark.y * image_height), image_height - 1)
# landmark_z = landmark.z
landmark_point.append([landmark_x, landmark_y])
return landmark_point
def pre_process_landmark(landmark_list):
temp_landmark_list = copy.deepcopy(landmark_list)
base_x, base_y = 0, 0
for index, landmark_point in enumerate(temp_landmark_list):
if index == 0:
base_x, base_y = landmark_point[0], landmark_point[1]
temp_landmark_list[index][0] = temp_landmark_list[index][0] - base_x
temp_landmark_list[index][1] = temp_landmark_list[index][1] - base_y
temp_landmark_list = list(
itertools.chain.from_iterable(temp_landmark_list))
max_value = max(list(map(abs, temp_landmark_list)))
def normalize_(n):
return n / max_value
temp_landmark_list = list(map(normalize_, temp_landmark_list))
return np.array(temp_landmark_list)
def draw_landmarks(image, landmark_point):
if len(landmark_point) > 0:
cv.line(image, tuple(landmark_point[2]), tuple(landmark_point[3]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[2]), tuple(landmark_point[3]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[3]), tuple(landmark_point[4]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[3]), tuple(landmark_point[4]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[5]), tuple(landmark_point[6]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[5]), tuple(landmark_point[6]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[6]), tuple(landmark_point[7]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[6]), tuple(landmark_point[7]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[7]), tuple(landmark_point[8]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[7]), tuple(landmark_point[8]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[9]), tuple(landmark_point[10]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[9]), tuple(landmark_point[10]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[10]), tuple(landmark_point[11]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[10]), tuple(landmark_point[11]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[11]), tuple(landmark_point[12]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[11]), tuple(landmark_point[12]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[13]), tuple(landmark_point[14]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[13]), tuple(landmark_point[14]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[14]), tuple(landmark_point[15]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[14]), tuple(landmark_point[15]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[15]), tuple(landmark_point[16]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[15]), tuple(landmark_point[16]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[17]), tuple(landmark_point[18]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[17]), tuple(landmark_point[18]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[18]), tuple(landmark_point[19]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[18]), tuple(landmark_point[19]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[19]), tuple(landmark_point[20]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[19]), tuple(landmark_point[20]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[0]), tuple(landmark_point[1]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[0]), tuple(landmark_point[1]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[1]), tuple(landmark_point[2]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[1]), tuple(landmark_point[2]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[2]), tuple(landmark_point[5]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[2]), tuple(landmark_point[5]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[5]), tuple(landmark_point[9]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[5]), tuple(landmark_point[9]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[9]), tuple(landmark_point[13]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[9]), tuple(landmark_point[13]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[13]), tuple(landmark_point[17]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[13]), tuple(landmark_point[17]),
(255, 255, 255), 2)
cv.line(image, tuple(landmark_point[17]), tuple(landmark_point[0]),
(0, 0, 0), 6)
cv.line(image, tuple(landmark_point[17]), tuple(landmark_point[0]),
(255, 255, 255), 2)
for index, landmark in enumerate(landmark_point):
if index == 0:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 1:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 2:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 3:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 4:
cv.circle(image, (landmark[0], landmark[1]), 8, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 8, (0, 0, 0), 1)
if index == 5:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 6:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 7:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 8:
cv.circle(image, (landmark[0], landmark[1]), 8, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 8, (0, 0, 0), 1)
if index == 9:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 10:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 11:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 12:
cv.circle(image, (landmark[0], landmark[1]), 8, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 8, (0, 0, 0), 1)
if index == 13:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 14:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 15:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 16:
cv.circle(image, (landmark[0], landmark[1]), 8, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 8, (0, 0, 0), 1)
if index == 17:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 18:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 19:
cv.circle(image, (landmark[0], landmark[1]), 5, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 5, (0, 0, 0), 1)
if index == 20:
cv.circle(image, (landmark[0], landmark[1]), 8, (255, 255, 255),
-1)
cv.circle(image, (landmark[0], landmark[1]), 8, (0, 0, 0), 1)
return image
def draw_bounding_rect(use_brect, image, brect):
if use_brect:
cv.rectangle(image, (brect[0], brect[1]), (brect[2], brect[3]),
(0, 0, 0), 1)
return image
def draw_info_text(image, brect, handedness, hand_sign_text):
cv.rectangle(image, (brect[0], brect[1]), (brect[2], brect[1] - 22),
(0, 0, 0), -1)
info_text = handedness.classification[0].label[0:]
if hand_sign_text != "":
info_text = info_text + ':' + hand_sign_text
cv.putText(image, info_text, (brect[0] + 5, brect[1] - 4),
cv.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 1, cv.LINE_AA)
return image
def draw_info(image, fps, mode, number):
cv.putText(image, "FPS:" + str(fps), (10, 30), cv.FONT_HERSHEY_SIMPLEX,
1.0, (0, 0, 0), 4, cv.LINE_AA)
cv.putText(image, "FPS:" + str(fps), (10, 30), cv.FONT_HERSHEY_SIMPLEX,
1.0, (255, 255, 255), 2, cv.LINE_AA)
mode_string = ['Logging Key Point', 'Logging Point History']
if 1 <= mode <= 2:
cv.putText(image, "MODE:" + mode_string[mode - 1], (10, 90),
cv.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 1,
cv.LINE_AA)
if 0 <= number <= 9:
cv.putText(image, "NUM:" + str(number), (10, 110),
cv.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 1,
cv.LINE_AA)
return image
if __name__ == '__main__':
main()