def init_body_detection():
# baidu clond AI detection project https://console.bce.baidu.com
app_id = "18480308"
api_key = "r1ddkBzIGucxEwCkRArbrZGn"
secret_key = "7ZCAHQaVWvuKP2MCKRxbdgiL3eMbGbhy"
client = AipBodyAnalysis(app_id, api_key, secret_key)
client.setConnectionTimeoutInMillis(4000)
client.setSocketTimeoutInMillis(7000)
options = {"type": "gender,age"}
def detective(image):
try:
r = client.bodyAttr(image, options)
if r["person_num"] == 0:
Log.logger.info("image contain no person")
return [], "no_body"
for person in r['person_info']:
if person['attributes']['gender']['name'] == "男性":
Log.logger.info("male has been detected, discard")
return [], "male"
if person['attributes']['gender']['score'] < 0.6:
Log.logger.info("not that much like a girl discard")
return [], "neutral"
if person['attributes']['age']['name'] == "幼儿":
Log.logger.info("children has been detected, discard")
return [], "children"
except Exception as e:
Log.logger.warning("image can't be processed {}".format(e))
return [], "error"
return [r], "girl"
return detective
class BodyCheck:
def __init__(self):
self.time = time.time()
APP_ID = '18889374'
API_KEY = 'pUNweNaSK4rWz57vGs9KpuW1'
SECRET_KEY = 'ru5LqWM0lrcVYBh9cjd32fy951nagqcA'
self.image_type = "BASE64"
self.client_face = AipFace(APP_ID, API_KEY, SECRET_KEY)
self.client_body = AipBodyAnalysis(APP_ID, API_KEY, SECRET_KEY)
self.client_body.setConnectionTimeoutInMillis(2000)
self.client_body.setSocketTimeoutInMillis(2000)
self.client_face.setConnectionTimeoutInMillis(2000)
self.client_face.setSocketTimeoutInMillis(2000)
self.bridge = CvBridge()
self.ispub = False
##############人类数据
self.filepath = "/home/qian/catkin_ws/src/fare_src/kamerider_image/kamerider_image_api/imgfile/"
##############跟踪数据
self.roi = None
self.depth_array = None
self.target_pos = Pose()
##############话题名称
# 接收器与发布器
self.check_gender = rospy.get_param('~check_gender', 'False')
if (type(self.check_gender) == type('text')):
self.check_gender = False
##############发布器
self.img_pub = rospy.Publisher("/image/test", Image, queue_size=1)
self.roi_pub = rospy.Publisher("roi", RegionOfInterest, queue_size=1)
self.img_sub = rospy.Subscriber("/usb_cam/image_raw",
Image,
self.imgCallback,
queue_size=1)
self.word_pub = rospy.Publisher("/xfwords", String, queue_size=1)
self.face_pub = rospy.Publisher("/start_recognize_faces",
String,
queue_size=1)
print("============================================================")
# 人体数据转换
def msgtobody(self, image_msg, file_name='image_body.png'):
# 转为base64存储
cv2.imwrite(self.filepath + file_name, image_msg)
with open(self.filepath + file_name, 'rb') as fp:
return fp.read()
# 人脸数据转换
def msgtoface(self, image_msg, file_name='image_faces.png'):
cv2.imwrite(self.filepath + file_name, image_msg)
with open(self.filepath + file_name, 'rb') as fp:
data = base64.b64encode(fp.read())
# python2.7
data = str(data).encode('utf-8')
return data
# 挥手检测，返回一个挥手的人的方框xxyy数据
def detectWave(self, image, gender=False):
print("CHECK")
data = self.msgtobody(image, "image_body.png")
# ----------挥手检测----------
result = self.client_body.bodyAnalysis(data)
wave = []
loaction = []
point_t = []
# 存在人
if result['person_num'] > 0:
id_ = -1
# 对每个人进行检查
for info in result['person_info']:
id_ += 1
keypoint = info['body_parts']
# 腕高
if keypoint['right_elbow']['y'] > keypoint['right_wrist']['y']:
# 腕在外侧
if keypoint['right_wrist']['x'] < keypoint[
'right_shoulder']['x']:
wave.append(id_)
loc = []
loc.append(int(info['location']['left']))
loc.append(
int(info['location']['left'] +
info['location']['width']))
loc.append(int(info['location']['top']))
loc.append(
int(info['location']['top'] +
info['location']['height']))
loaction.append(copy.deepcopy(loc))
# 腕高
elif keypoint['left_elbow']['y'] > keypoint['left_wrist']['y']:
# 腕在外侧
if keypoint['left_wrist']['x'] > keypoint['left_shoulder'][
'x']:
wave.append(id_)
loc = []
loc.append(int(info['location']['left']))
loc.append(
int(info['location']['left'] +
info['location']['width']))
loc.append(int(info['location']['top']))
loc.append(
int(info['location']['top'] +
info['location']['height']))
loaction.append(copy.deepcopy(loc))
# 存在挥手
if len(loaction) > 0:
# 女性检测
# ----------性别检测----------
if gender:
options = {}
options["type"] = "gender"
# 保证存在挥手
for locate in loaction:
img = image[locate[2]:locate[3], locate[0]:locate[1]]
img = self.msgtobody(img, "image_face.png")
result = self.client_body.bodyAttr(img, options)
try:
result['person_info'][0]['attributes'][
'gender'] == "女性"
except:
continue
# 女性则直接返回女性位置
if result['person_info'][0]['attributes'][
'gender'] == "女性":
loc = []
loc.append(locate[0])
loc.append(locate[1])
loc.append(locate[2])
loc.append(locate[3])
return locate
# 随机返回一个人
locate = loaction[0]
loc = []
loc.append(locate[0])
loc.append(locate[1])
loc.append(locate[2])
loc.append(locate[3])
return locate
return None
# 照片的回调函数，发布挥手人的位置
def imgCallback(self, image):
num = 0
try:
cv_image = self.bridge.imgmsg_to_cv2(image, "bgr8")
except CvBridgeError as e:
print(e)
# 如果存在人
roi = RegionOfInterest()
try:
position = self.detectWave(cv_image, self.check_gender)
cv2.rectangle(cv_image, (position[1], position[3]),
(position[0], position[2]), (0, 0, 255))
roi.x_offset = position[0]
roi.y_offset = position[2]
roi.width = position[1] - position[0]
roi.height = position[3] - position[2]
self.roi = roi
self.roi_pub.publish(roi)
if self.ispub == False:
stringq = "I can tell one wave. Now I will recognize people. "
self.word_pub.publish(stringq)
stringq = "ok "
self.face_pub.publish(stringq)
self.ispub = True
rospy.loginfo("One Wave!")
num = 1
except:
self.roi = roi
if num == 0:
self.roi_pub.publish(roi)
cv_image = self.bridge.cv2_to_imgmsg(cv_image, "bgr8")
self.img_pub.publish(cv_image)