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213 lines
7.0 KiB
213 lines
7.0 KiB
from PySide2.QtWidgets import QWidget, QApplication, QSlider, QLabel, QPushButton, QHBoxLayout, QVBoxLayout
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from PySide2.QtCore import Qt, QTimer,QRect
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from PySide2.QtGui import QPainter, QPixmap,QFont,QImage
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import sys
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import cv2
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import utils
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from gesture_detector import GestureDetector
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import con_signal
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from collections import defaultdict
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from pykalman import KalmanFilter
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import math
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# 创建一个摄像头捕获对象，使用默认的摄像头设备
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cap = cv2.VideoCapture(0)
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detecor = GestureDetector()
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# 创建一个覆盖窗口类，用来显示手势反馈和摄像头画面
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class OverlayWidget(QWidget):
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def __init__(self):
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QWidget.__init__(self, geometry=QApplication.desktop().screenGeometry())
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self.setAttribute(Qt.WA_TranslucentBackground)
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self.setWindowFlags(Qt.FramelessWindowHint | Qt.WindowStaysOnTopHint)
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self.frame = None
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# 创建一个定时器，用来定时更新窗口的内容
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timer = QTimer(self)
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timer.timeout.connect(self.update)
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timer.start(10)
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self.cmd_history = []
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self.cmd_history_max_len = 5
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# 初始化手势图像和文字的字典，用来存储不同手势对应的图像和文字
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self.gesture_img_dict = {
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"up": QPixmap("./source/speedup.png"),
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"left": QPixmap("./source/left.png"),
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"right": QPixmap("./source/right.png"),
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"bark": QPixmap("./source/bark.png"),
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"unknown": QPixmap("unknow.png")
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}
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self.gesture_text_dict = {
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"up": "加速",
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"bark": "刹车",
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"left": "左转",
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"right": "右转",
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"unknown": "未知"
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}
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# 初始化当前手势图像和文字为未知
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self.gesture_img = self.gesture_img_dict["unknown"]
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self.gesture_text = self.gesture_text_dict["unknown"]
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self.kf = KalmanFilter(transition_matrices=1, observation_matrices=1)
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# kalman
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self.kf.initial_state_mean = 0
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self.kf.initial_state_covariance = 1
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self.kf.transition_covariance = 0.001
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self.kf.observation_covariance = 0.5
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self.observation = 1
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def get_most_frequent(self):
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count = defaultdict(int)
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for cmd_str in self.cmd_history:
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count[cmd_str] += 1
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most_common = max(count, key=count.get)
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self.cmd_history=[]
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return most_common
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def stable_sigmoid(self,x):
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a = 0.05
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if x >= 0:
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z = math.exp(-a*x)
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sig = 1 / (1 + z)
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return sig-0.5
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else:
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z = math.exp(a*x)
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sig = z / (1 + z)
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return sig-0.5
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def update(self):
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ret, frame = cap.read()
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if not ret:
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return
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frame= cv2.flip(frame,1)
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self.frame = detecor.findHands(frame)
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detecor.findPosition(self.frame)
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gesture = utils.update_gesture_status_low(detecor)
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cmd1='unknown'
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cmd2='unknown'
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self.kf.transition_matrices = 1
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self.kf.observation_matrices = self.observation
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filtered_angle = self.kf.filter(gesture['Angle'])[0][0][0]
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filtered_angle = self.stable_sigmoid(filtered_angle)
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filtered_angle = filtered_angle*2
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print(filtered_angle)
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signal = {
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"up":False,
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"bark":False,
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"Angle":filtered_angle
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}
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if(gesture['Left Thumb']):
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cmd2 = 'bark'
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signal["bark"] = True
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elif(gesture['Right Thumb']):
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cmd2 = 'up'
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signal["up"] = True
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if(filtered_angle<-0.25):
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cmd1 = 'left'
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elif(filtered_angle>0.25):
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cmd1 = 'right'
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self.cmd_history.append(cmd1 + '_' + cmd2)
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if len(self.cmd_history) > self.cmd_history_max_len:
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gmf = self.get_most_frequent()
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cmd1, cmd2 = gmf.split('_')
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# 根据手势类别，从字典中获取对应的图像和文字
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if(cmd1!='unknown'):
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self.gesture_img = self.gesture_img_dict.get(cmd1, self.gesture_img_dict["unknown"])
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self.gesture_text = self.gesture_text_dict.get(cmd1, self.gesture_text_dict["unknown"])
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elif(cmd2!='unknown'):
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self.gesture_img = self.gesture_img_dict.get(cmd2, self.gesture_img_dict["unknown"])
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self.gesture_text = self.gesture_text_dict.get(cmd2, self.gesture_text_dict["unknown"])
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else:
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self.gesture_img = self.gesture_img_dict.get('unknow', self.gesture_img_dict["unknown"])
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self.gesture_text = self.gesture_text_dict.get('unknow', self.gesture_text_dict["unknown"])
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print(f"Detected gesture: {gesture}")
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con_signal.gamepad_Control(signal)
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# 更新窗口的绘制
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self.repaint()
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def paintEvent(self, event):
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painter = QPainter(self)
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opacity = 0.8
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painter.setOpacity(opacity)
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rect = self.gesture_img.rect()
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rect.moveCenter(self.rect().center())
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painter.drawPixmap(rect.topLeft(), self.gesture_img)
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painter.setFont(QFont("Arial", 20))
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painter.drawText(self.rect(), Qt.AlignBottom | Qt.AlignHCenter, self.gesture_text)
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img = QImage(self.frame.data, self.frame.shape[1], self.frame.shape[0],
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self.frame.strides[0], QImage.Format_RGB888)
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img_width = img.width() // 2
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img_height = img.height() // 2
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camera_rect = QRect(0, 0,
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img_width, img_height)
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# 绘制图像
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painter.drawImage(camera_rect, img)
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# 创建一个主窗口类，用来显示灵敏度调节和退出按钮
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class MainWindow(QWidget):
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def __init__(self):
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QWidget.__init__(self)
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# 创建一个滑动条用来调节手势识别的灵敏度
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self.sensitivity_slider = QSlider(Qt.Horizontal)
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self.sensitivity_slider.setMinimum(0)
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self.sensitivity_slider.setMaximum(100)
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self.sensitivity_slider.setValue(50) # 默认值为50
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self.sensitivity_slider.valueChanged.connect(self.on_sensitivity_changed)
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# 标签
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self.sensitivity_label = QLabel("灵敏度: 50")
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# 按钮
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self.exit_button = QPushButton("退出")
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self.exit_button.clicked.connect(self.on_exit_clicked)
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self.hbox = QHBoxLayout()
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self.hbox.addWidget(self.sensitivity_slider)
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self.hbox.addWidget(self.sensitivity_label)
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self.vbox = QVBoxLayout()
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self.vbox.addLayout(self.hbox)
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self.vbox.addWidget(self.exit_button)
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self.setLayout(self.vbox)
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def on_sensitivity_changed(self, value):
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self.sensitivity_label.setText(f"灵敏度: {value}")
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def on_exit_clicked(self):
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# 关闭程序
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sys.exit()
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if __name__ == "__main__":
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app = QApplication([])
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overlay_window = OverlayWidget()
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overlay_window.show()
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main_window = MainWindow()
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main_window.show()
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app.exec_()
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