34、树莓派进行人体姿态检测并进行语音播报

基本思想：需要水一篇博客，套用了qiuqiu大佬的simplepose代码，使用ncnn框架，做了个动作检测，然后套用了树莓派4b和使用了语音模块播报

一、自己购买树莓派和喇叭，链接参考这篇博客26、友善NanoPi NEO进行目标检测和串口调试语音播报_sxj731533730的博客-CSDN博客_nanopi neo python

然后接线图上一下，串口工具和杜邦线是必不可少的，串口调试工具也是必不可少。

，

第二步：写代码在树莓中，调用串口和摄像头（摄像头可以使用手机的摄像头或者笔记本的摄像头直接用ffmpeg拉流推流给树莓派代码），我用的usb摄像头，推拉流摄像头使用手机摄像头当做实际树莓派的输入视频流参考这篇38、静默活体检测测试及ncnn、mnn部署_sxj731533730的博客-CSDN博客_静默活体检测

#include "ncnn/net.h"#include <algorithm>
#if defined(USE_NCNN_SIMPLEOCV)
#include "simpleocv.h"
#else
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#endif
#include <stdio.h>
#include <vector>
#include <iostream>#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include<unistd.h>
#include<stdio.h>
#include<sys/types.h>
#include<sys/stat.h>struct KeyPoint
{cv::Point2f p;float prob;
};
ncnn::Net posenet;
int initial(){posenet.opt.use_vulkan_compute = true;// the simple baseline human pose estimation from gluon-cv// https://gluon-cv.mxnet.io/build/examples_pose/demo_simple_pose.html// mxnet model exported via//      pose_net.hybridize()//      pose_net.export('pose')// then mxnet2ncnn// the ncnn model https://github.com/nihui/ncnn-assets/tree/master/modelsif (posenet.load_param("../model/pose.param"))exit(-1);if (posenet.load_model("../model/pose.bin"))exit(-1);
}
static int detect_posenet(const cv::Mat& bgr, std::vector<KeyPoint>& keypoints)
{int w = bgr.cols;int h = bgr.rows;ncnn::Mat in = ncnn::Mat::from_pixels_resize(bgr.data, ncnn::Mat::PIXEL_BGR2RGB, w, h, 192, 256);// transforms.ToTensor(),// transforms.Normalize((0.485, 0.456, 0.406), (0.229, 0.224, 0.225)),// R' = (R / 255 - 0.485) / 0.229 = (R - 0.485 * 255) / 0.229 / 255// G' = (G / 255 - 0.456) / 0.224 = (G - 0.456 * 255) / 0.224 / 255// B' = (B / 255 - 0.406) / 0.225 = (B - 0.406 * 255) / 0.225 / 255const float mean_vals[3] = {0.485f * 255.f, 0.456f * 255.f, 0.406f * 255.f};const float norm_vals[3] = {1 / 0.229f / 255.f, 1 / 0.224f / 255.f, 1 / 0.225f / 255.f};in.substract_mean_normalize(mean_vals, norm_vals);ncnn::Extractor ex = posenet.create_extractor();ex.input("data", in);ncnn::Mat out;ex.extract("conv3_fwd", out);// resolve point from heatmapkeypoints.clear();for (int p = 0; p < out.c; p++){const ncnn::Mat m = out.channel(p);float max_prob = 0.f;int max_x = 0;int max_y = 0;for (int y = 0; y < out.h; y++){const float* ptr = m.row(y);for (int x = 0; x < out.w; x++){float prob = ptr[x];if (prob > max_prob){max_prob = prob;max_x = x;max_y = y;}}}KeyPoint keypoint;keypoint.p = cv::Point2f(max_x * w / (float)out.w, max_y * h / (float)out.h);keypoint.prob = max_prob;keypoints.push_back(keypoint);}return 0;
}int sendSerialPort(const char W_BUF[], int length) {int tty_fd = -1;int rv = -1;struct termios options;system("sudo chmod 777 /dev/ttyS0");tty_fd = open("/dev/ttyS0", O_RDWR | O_NOCTTY | O_NDELAY); //打开串口设备fcntl(tty_fd, F_SETFL, 0);if (tty_fd < 0) {printf("open tty failed:%s\n", strerror(errno));close(tty_fd);return -1;}printf("open devices sucessful!\n");memset(&options, 0, sizeof(options));rv = tcgetattr(tty_fd, &options); //获取原有的串口属性的配置if (rv != 0) {printf("tcgetattr() failed:%s\n", strerror(errno));close(tty_fd);return -1;}options.c_cflag |= (CLOCAL | CREAD); // CREAD 开启串行数据接收，CLOCAL并打开本地连接模式options.c_cflag &= ~CSIZE;// 先使用CSIZE做位屏蔽options.c_cflag |= CS8; //设置8位数据位options.c_cflag &= ~PARENB; //无校验位cfsetispeed(&options, B9600);cfsetospeed(&options, B9600);options.c_cflag &= ~CSTOPB;options.c_cc[VTIME] = 0;options.c_cc[VMIN] = 0;tcflush(tty_fd, TCIFLUSH);if ((tcsetattr(tty_fd, TCSANOW, &options)) != 0) {printf("tcsetattr failed:%s\n", strerror(errno));close(tty_fd);return -1;}std::cout << std::endl << "length= " << length << std::endl;rv = write(tty_fd, W_BUF, length);if(rv<=0) /* 出错了*/{if (errno == EINTR) /* 中断错误 我们继续写*/{close(tty_fd);printf("[SeanSend]error errno==EINTR continue\n");} else if (errno == EAGAIN) /* EAGAIN : Resource temporarily unavailable*/{sleep(1);//等待一秒，希望发送缓冲区能得到释放close(tty_fd);printf("[SeanSend]error errno==EAGAIN continue\n");} else /* 其他错误 没有办法,只好退了*/{printf("[SeanSend]ERROR: errno = %d, strerror = %s \n", errno, strerror(errno));return (-1);}}if (rv < 0) {printf("Write() error:%s\n", strerror(errno));close(tty_fd);return -1;}for (int i = 0; i < length; i++) {std::cout << std::hex << (int) W_BUF[i] << " ";}close(tty_fd);printf("\nWrite() successfully\n");return 0;}static void draw_pose(const cv::Mat& bgr, const std::vector<KeyPoint>& keypoints)
{cv::Mat image = bgr.clone();// draw bonestatic const int joint_pairs[16][2] = {{0, 1}, {1, 3}, {0, 2}, {2, 4}, {5, 6}, {5, 7}, {7, 9}, {6, 8}, {8, 10}, {5, 11}, {6, 12}, {11, 12}, {11, 13}, {12, 14}, {13, 15}, {14, 16}};//    for (int i = 0; i < 16; i++)
//    {
//        const KeyPoint& p1 = keypoints[joint_pairs[i][0]];
//        const KeyPoint& p2 = keypoints[joint_pairs[i][1]];
//
//        if (p1.prob < 0.2f || p2.prob < 0.2f)
//            continue;
//
//        cv::line(image, p1.p, p2.p, cv::Scalar(255, 0, 0), 2);
//
////    }//   cv::line(image, keypoints[joint_pairs[4][0]].p, keypoints[joint_pairs[4][1]].p, cv::Scalar(255, 0, 255), 8);//  cv::line(image, keypoints[joint_pairs[5][0]].p, keypoints[joint_pairs[5][1]].p, cv::Scalar(0, 0, 255), 8);//cv::line(image, keypoints[joint_pairs[6][0]].p, keypoints[joint_pairs[6][1]].p, cv::Scalar(255, 255, 120), 8);//cv::line(image, keypoints[joint_pairs[7][0]].p, keypoints[joint_pairs[7][1]].p, cv::Scalar(0, 255, 255), 8);//cv::line(image, keypoints[joint_pairs[8][0]].p, keypoints[joint_pairs[8][1]].p, cv::Scalar(255, 255, 0), 8);// draw joint
//    for (size_t i = 0; i < keypoints.size(); i++)
//    {
//        const KeyPoint& keypoint = keypoints[i];
//
//        fprintf(stderr, "%.2f %.2f = %.5f\n", keypoint.p.x, keypoint.p.y, keypoint.prob);
//
//        if (keypoint.prob < 0.2f)
//            continue;
//
//        cv::circle(image, keypoint.p, 3, cv::Scalar(0, 255, 0), -1);
//    }const  char data[] = {0xFD,0x00 ,0x07 ,0x01 ,0x01 ,0xB4, 0xF2 ,0xC8, 0xAD ,0xD9 };cv::circle(image, keypoints[5].p, 3, cv::Scalar(255, 255, 255), -1);cv::putText(image, "5", keypoints[5].p, cv::FONT_HERSHEY_COMPLEX, 1, cv::Scalar(255, 255, 255), 1, 8, 0);cv::circle(image, keypoints[6].p, 3, cv::Scalar(0, 255, 0), -1);cv::putText(image, "6", keypoints[6].p, cv::FONT_HERSHEY_COMPLEX, 1, cv::Scalar(0, 255, 255), 1, 8, 0);cv::circle(image, keypoints[8].p, 3, cv::Scalar(0, 255, 0), -1);cv::putText(image, "8", keypoints[8].p, cv::FONT_HERSHEY_COMPLEX, 1, cv::Scalar(0, 255, 255), 1, 8, 0);cv::circle(image, keypoints[7].p, 3, cv::Scalar(0, 255, 0), -1);cv::putText(image, "7", keypoints[7].p, cv::FONT_HERSHEY_COMPLEX, 1, cv::Scalar(0, 255, 255), 1, 8, 0);cv::circle(image, keypoints[9].p, 3, cv::Scalar(0, 255, 0), -1);cv::putText(image, "9", keypoints[9].p, cv::FONT_HERSHEY_COMPLEX, 1, cv::Scalar(0, 255, 255), 1, 8, 0);cv::circle(image, keypoints[10].p, 3, cv::Scalar(0, 255, 0), -1);cv::putText(image, "10", keypoints[10].p, cv::FONT_HERSHEY_COMPLEX, 1, cv::Scalar(0, 255, 255), 1, 8, 0);if(keypoints[9].p.y<keypoints[7].p.y&&keypoints[10].p.y<keypoints[8].p.y){//printf("rise hand \n");int distance0=sqrt( pow(keypoints[9].p.y-keypoints[5].p.y,2)+pow(keypoints[9].p.x-keypoints[5].p.x,2));int distance1=sqrt( pow(keypoints[6].p.y-keypoints[10].p.y,2)+pow(keypoints[6].p.x-keypoints[10].p.x,2));//printf("disntance %d\n",distance);if(distance0>60&&distance1>60){printf("make pose\n");sendSerialPort(data, sizeof(data));//测试}}cv::imshow("image", image);cv::waitKey(1);
}int main(int argc, char** argv)
{cv::VideoCapture capture(0);if (!capture.isOpened()) {std::cout << "open camera error!" << std::endl;return -1;}initial();cv::Mat frame;while (1) {capture >> frame;cv::resize(frame,frame,cv::Size(640,640));std::vector<KeyPoint> keypoints;detect_posenet(frame, keypoints);draw_pose(frame, keypoints);if (frame.empty()) {std::cout << "capture empty frame" << std::endl;continue;}}return 0;
}

其中中文生成语音十六进制使用喇叭官方软件拷贝就行，只上个简单图

测试结果

pi@raspberrypi:~/Orienmask_project/build $ ./Orienmask_project
hit box
open devices sucessful!length= 10
fd 0 7 1 1 b4 f2 c8 ad d9
Write() successfully
make pose
open devices sucessful!length= a
fd 0 7 1 1 b4 f2 c8 ad d9
Write() successfully
make pose
open devices sucessful!length= a
fd 0 7 1 1 b4 f2 c8 ad d9
Write() successfully
make pose
open devices sucessful!length= a
fd 0 7 1 1 b4 f2 c8 ad d9
Write() successfully
make pose
open devices sucessful!length= a
fd 0 7 1 1 b4 f2 c8 ad d9
Write() successfully
make pose
open devices sucessful!

关于树莓派的引脚接口定义

pi@raspberrypi:~ $ ls -l /dev/serial*
lrwxrwxrwx 1 root root 5 8月  20 20:15 /dev/serial0 -> ttyS0
lrwxrwxrwx 1 root root 7 8月  20 20:15 /dev/serial1 -> ttyAMA0
pi@raspberrypi:~ $

保证

pi@raspberrypi:~ $ sudo gedit /boot/config.txt
#dtoverlay=pi3-disable-bt  #处于注释状态

参考：

树莓派教程 - 1.5 树莓派GPIO库wiringPi 使用硬件串口ttyAMA0与ttyS0_Mark_md的博客-CSDN博客_ttyama0

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