web_py.py

import argparse
import logging
import time

import cv2
import numpy as np

from tf_pose.estimator import TfPoseEstimator
from tf_pose.networks import get_graph_path, model_wh



logger = logging.getLogger('TfPoseEstimator-WebCam')
logger.setLevel(logging.DEBUG)
ch = logging.StreamHandler()
ch.setLevel(logging.DEBUG)
formatter = logging.Formatter('[%(asctime)s] [%(name)s] [%(levelname)s] %(message)s')
ch.setFormatter(formatter)
logger.addHandler(ch)

fps_time = 0

import requests,time,random


sendPose_bef = 0 # 前回の命令
sendPose_now = 0 # 今回の命令

requestUrl_message=["該当なし","↑","→","←","↓","ストップ"]
requestUrl=[
    '',
    'http://mygopigo.com/execute/fast?to_run_code=gpg.set_speed(40)%0Agpg.forward()',
    'http://mygopigo.com/execute/fast?to_run_code=gpg.set_speed(40)%0Agpg.right()',
    'http://mygopigo.com/execute/fast?to_run_code=gpg.set_speed(40)%0Agpg.left()',
    'http://mygopigo.com/execute/fast?to_run_code=gpg.set_speed(40)%0Agpg.backward()',
    'http://mygopigo.com/execute/fast?to_run_code=gpg.stop()']


def send_url():
    global sendPose_bef,sendPose_now,requestUrl # グローバル変数として利用
    print(sendPose_bef,sendPose_now)
    if sendPose_now == 0:
        print("初期値:0")
    elif sendPose_now == 99:
        print("ポーズ該当なし")
    elif sendPose_now == 100:
        print("ポーズ取得不可")
    elif sendPose_bef != sendPose_now:
        print(requestUrl_message[sendPose_now])
        requests.get(requestUrl[sendPose_now])
        sendPose_bef = sendPose_now
    else:
        print("前回と同じだから実行しない:")



def arrow_estimate(estimation_list):
    global sendPose_now,sendPose_bef,requestUrl # グローバル変数として利用
# --------------------------------------
    try:
        pos_0 = estimation_list[0] # 顔
        pos_1 = estimation_list[1] # 喉
        pos_2 = estimation_list[2] # migikata
        pos_3 = estimation_list[3] # 右肘
        pos_5 = estimation_list[5] # hidarikata
        pos_6 = estimation_list[6] # 左肘
 #       pos_8 = estimation_list[8] # 右腰
 #       pos_11 = estimation_list[11] # 左腰
    
       # goRight_MinY = toStop_RightMaxY = pos_1.y - ((pos_1.y - pos_8.y) / 3)
       # goLeft_MinY = toStop_LeftMaxY = pos_1.y - ((pos_1.y - pos_11.y) / 3)
        goRight_MaxY = goLeft_MaxY = goForward_MinY = pos_1.y
    
#        if (pos_3.y > goForward_MinY) and (pos_6.y > goForward_MinY):
#            sendPose_now = 1 #↑
#        elif (pos_3.y > goRight_MinY) and (pos_3.y < goRight_MaxY):
#            sendPose_now = 2 #→
#        elif (pos_6.y > goLeft_MinY) and (pos_6.y < goLeft_MaxY):
#            sendPose_now = 3 # ←
#        elif (pos_3.y < 100):
#            sendPose_now = 4 # ↓
#        elif (pos_3.y < toStop_RightMaxY) and (pos_6.y < toStop_LeftMaxY):
#            sendPose_now = 5 # stop
#        else:
#            sendPose_now = 99 # ポジション取れているけど該当しない

        if (pos_3.y < goForward_MinY) and (pos_6.y < goForward_MinY):
            sendPose_now = 1 #↑
        elif (pos_6.x > pos_5.x) and (pos_2.x < pos_3.x):
            sendPose_now = 2 #→
        elif (pos_6.x < pos_5.x) and (pos_2.x > pos_3.x):
            sendPose_now = 3 # ←
        elif (pos_3.y < 0):
            sendPose_now = 4 # ↓
        elif (pos_6.x > pos_5.x) and (pos_2.x > pos_3.x):
            sendPose_now = 5 # stop
        else:
            sendPose_now = 99 # ポジション取れているけど該当しない


#         if 0.25 > estimation_list > 0.01:
#             sendPose_now = 1 #↑
#         elif 0.5 > estimation_list > 0.26:
#             sendPose_now = 2 #→
#         elif 0.75 > estimation_list > 0.5:
#             sendPose_now = 3 # ←
#         elif 0.9 > estimation_list > 0.75:
#             sendPose_now = 4 # ↓
#         elif 0.99 > estimation_list > 0.9:
#             sendPose_now = 5 # stop
#        else:
#             sendPose_now = 99 # ポジション取れているけど該当しない
    except:
            print(estimation_list)
            sendPose_now = 100 # エラー

    send_url()
    # ----------------------------------------------
    return


#def arrow_estimate(estimation_list):
## --------------------------------------
#    try:
#        pos_0 = estimation_list[0] # 顔
#        pos_1 = estimation_list[1] # 喉
#        pos_3 = estimation_list[3] # 右肘
#        pos_6 = estimation_list[6] # 左肘
#　　 pos_8 = estimation_list[8] # 右腰
#　　 pos_11 = estimation_list[11] # 左腰
#　　
#　　 goRight_MinY = toStop_RightMaxY = pos_1.y - ((pos_1.y - pos_8.y) / 3)
#        goLeft_MinY = toStop_LeftMaxY = pos_1.y - ((pos_1.y - pos_11.y) / 3)
#        goRight_MaxY = goLeft_MaxY = goForward_MinY = pos_0.y
#　　
#        if (pos_3.y > goForward_MinY) and (pos_6.y > goForward_MinY):
#           print(“↑”) 
#　　elif (pos_3.y > goRight_MinY) and (pos_3.y < goRight_MaxY):
#           print(“→”)
#       elif (pos_6.y > goLeft_MinY) and (pos_6.y < goLeft_MaxY):
#print(“←”) 
#　　elif (pos_3.y < toStop_RightMaxY) and (pos_6.y < toStop_LeftMaxY):
#	print(“stop”)
#
#        # print (pos_1.x)
#        # print (pos_1.y)
#        # print (pos_7.x)
#        # print (pos_7.y)
#        # print(estimation_list[0])
#        if (pos_4.y < pos_1.y) and (pos_7.y < pos_1.y):
#            print("↑")
#        elif pos_7.y < pos_1.y:
#            print("←")
#        elif pos_4.y < pos_1.y:
#            print("→")
#            
#    except:
#        print("認識不可")
## ----------------------------------------------
#    return
#

if __name__ == '__main__':
    parser = argparse.ArgumentParser(description='tf-pose-estimation realtime webcam')
    parser.add_argument('--camera', type=int, default=0)

    parser.add_argument('--resize', type=str, default='0x0',
                        help='if provided, resize images before they are processed. default=0x0, Recommends : 432x368 or 656x368 or 1312x736 ')
    parser.add_argument('--resize-out-ratio', type=float, default=4.0,
                        help='if provided, resize heatmaps before they are post-processed. default=1.0')

    parser.add_argument('--model', type=str, default='mobilenet_thin', help='cmu / mobilenet_thin')
    parser.add_argument('--show-process', type=bool, default=False,
                        help='for debug purpose, if enabled, speed for inference is dropped.')
    args = parser.parse_args()

    logger.debug('initialization %s : %s' % (args.model, get_graph_path(args.model)))
    w, h = model_wh(args.resize)
    if w > 0 and h > 0:
        e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
    else:
        e = TfPoseEstimator(get_graph_path(args.model), target_size=(432, 368))
    logger.debug('cam read+')
    cam = cv2.VideoCapture(args.camera)
    ret_val, image = cam.read()
    logger.info('cam image=%dx%d' % (image.shape[1], image.shape[0]))

    estimation_list=[]

    while True:
        ret_val, image = cam.read()

        #logger.debug('image process+')
        humans = e.inference(image, resize_to_default=(w > 0 and h > 0), upsample_size=args.resize_out_ratio)


## yamashita add
        # try:
        #     print(humans[0].body_parts[0].part_idx)
        #     #print(humans[0])
        #     #estimation_list=humans[0][body_parts]
        #     arrow_estimate(humans[0].body_parts)
        # except:
        #     print("not found")
        try:
            arrow_estimate(humans[0].body_parts)
        except:
            print("no human")


        #logger.debug('postprocess+')
        image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)

        #logger.debug('show+')
        cv2.putText(image,
                    "FPS: %f" % (1.0 / (time.time() - fps_time)),
                    (10, 10),  cv2.FONT_HERSHEY_SIMPLEX, 0.5,
                    (0, 255, 0), 2)
        cv2.imshow('tf-pose-estimation result', image)
        fps_time = time.time()
        if cv2.waitKey(1) == 27:
            break
        #logger.debug('finished+')

    cv2.destroyAllWindows()