smartpi 0.1.38__py3-none-any.whl

smartpi/move.py

@@ -0,0 +1,218 @@
+# coding=utf-8
+import time
+from typing import List, Optional
+from smartpi import base_driver
+
+
+#以速度移动x秒：dir:方向forward、backward、turnright、turnleft；speed:0~100；second:x秒
+def run_second(dir:bytes,speed:bytes,second:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x11, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0xBE]
+    
+    if dir=="forward":
+        move_str[4]=0x01
+    elif dir=="backward":
+        move_str[4]=0x02
+    elif dir=="turnright":
+        move_str[4]=0x03
+    elif dir=="turnleft":
+        move_str[4]=0x04
+            
+    move_str[6]=speed
+    move_str[8]=second      
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
+        
+#以速度移动x度：dir:方向forward、backward、turnright、turnleft：speed:0~100：angle:65535
+def run_angle(dir:bytes,speed:bytes,angle:int) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x12, 0x71, 0x00, 0x71, 0x00, 0x81, 0x00, 0x00, 0xBE]
+    
+    if dir=="forward":
+        move_str[4]=0x01
+    elif dir=="backward":
+        move_str[4]=0x02
+    elif dir=="turnright":
+        move_str[4]=0x03
+    elif dir=="turnleft":
+        move_str[4]=0x04
+        
+    move_str[6]=speed
+    move_str[8]=angle//256
+    move_str[9]=angle%256      
+             
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
+        
+#以速度移动：dir:方向forward、backward、turnright、turnleft；speed:0~100；
+def run(dir:bytes,speed:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x13, 0x71, 0x00, 0x71, 0x00, 0xBE]
+    
+    if dir=="forward":
+        move_str[4]=0x01
+    elif dir=="backward":
+        move_str[4]=0x02
+    elif dir=="turnright":
+        move_str[4]=0x03
+    elif dir=="turnleft":
+        move_str[4]=0x04
+        
+    move_str[6]=speed      
+             
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
+        
+#设置左右轮速度移动x秒：Lspeed:-100~100；Rspeed:-100~100；second:1~255
+def run_speed_second(Lspeed:int,Rspeed:int,second:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x14, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0xBE]
+    
+    if Lspeed>100:
+        m_par=100
+    elif Lspeed>=0 and Lspeed<=100:
+        m_par=Lspeed        
+    elif Lspeed<-100:
+        m_par=156
+    elif Lspeed<=0 and Lspeed>=-100:
+        m_par=256+Lspeed
+        
+    move_str[6]=m_par
+        
+    if Rspeed>100:
+        m_par=100
+    elif Rspeed>=0 and Rspeed<=100:
+        m_par=Rspeed        
+    elif Rspeed<-100:
+        m_par=156
+    elif Rspeed<=0 and Rspeed>=-100:
+        m_par=256+Rspeed
+        
+    move_str[4]=m_par
+    
+    move_str[8]=second
+             
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
+        
+#设置左右轮速度移动：Lspeed:-100~100；Rspeed:-100~100；
+def run_speed(Lspeed:int,Rspeed:int) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x15, 0x71, 0x00, 0x71, 0x00, 0xBE]
+    
+    if Lspeed>100:
+        m_par=100
+    elif Lspeed>=0 and Lspeed<=100:
+        m_par=Lspeed        
+    elif Lspeed<-100:
+        m_par=156
+    elif Lspeed<=0 and Lspeed>=-100:
+        m_par=256+Lspeed
+        
+    move_str[6]=m_par
+        
+    if Rspeed>100:
+        m_par=100
+    elif Rspeed>=0 and Rspeed<=100:
+        m_par=Rspeed        
+    elif Rspeed<-100:
+        m_par=156
+    elif Rspeed<=0 and Rspeed>=-100:
+        m_par=256+Rspeed
+        
+    move_str[4]=m_par
+             
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
+        
+#设置左右轮功率移动：Lpower:0~100；Rpower:0~100；
+def run_power(Lpower:bytes,Rpower:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x17, 0x71, 0x00, 0x71, 0x00, 0xBE]
+        
+    move_str[4]=Rpower       
+    move_str[6]=Lpower
+             
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
+        
+#设置最大功率：M1:0~100；M2:0~100；M3:0~100；M4:0~100；M5:0~100；M6:0~100；
+def set_maxpower(M1:bytes,M2:bytes,M3:bytes,M4:bytes,M5:bytes,M6:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x18, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0xBE]
+        
+    move_str[4]=M1       
+    move_str[6]=M2
+    move_str[8]=M3       
+    move_str[10]=M4
+    move_str[12]=M5       
+    move_str[14]=M6
+             
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
+        
+#马达停止
+def stop() -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x0A, 0xBE]   
+             
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
+        
+#设置左右轮方向：Lmotor:1~6；Rmotor:1~6；state: no_reversal、all_reversal、left_reversal、right_reversal
+def set_move_init(Lmotor:bytes,Rmotor:bytes,state:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x19, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0xBE]
+       
+    if state=="no_reversal":
+        move_str[4]=0x01
+    elif state=="all_reversal":
+        move_str[4]=0x02
+    elif state=="left_reversal":
+        move_str[4]=0x03
+    elif state=="right_reversal":
+        move_str[4]=0x04  
+        
+    move_str[6]=Rmotor
+    move_str[8]=Lmotor          
+
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0        
+        
+        

smartpi/onnx_hand_workflow.py

@@ -0,0 +1,201 @@
+import cv2
+import numpy as np
+import onnxruntime as ort
+import mediapipe as mp
+import json
+from PIL import Image
+import time  # 用于时间测量
+
+class GestureWorkflow:
+    def __init__(self, model_path):
+        # 初始化MediaPipe Hands
+        self.mp_hands = mp.solutions.hands
+        self.hands = self.mp_hands.Hands(
+            static_image_mode=False,  # 视频流模式  如果只是获取照片的手势关键点 请设置为True
+            max_num_hands=1,#如果想要检测双手，请设置成2
+            min_detection_confidence=0.5,#手势关键点的阈值
+            model_complexity=0#使用最简单的模型  如果效果不准确 可以考虑设置比较复制的模型  1
+        )
+        
+        # 初始化元数据
+        self.min_vals = None
+        self.max_vals = None
+        self.class_labels = None
+        
+        # 加载模型和元数据
+        self.load_model(model_path)
+    
+    def load_model(self, model_path):
+        """加载模型并解析元数据"""
+        # 初始化ONNX Runtime会话
+        self.session = ort.InferenceSession(model_path)
+        
+        # 加载元数据
+        self._load_metadata()
+    
+    def _load_metadata(self):
+        """从ONNX模型元数据中加载归一化参数和类别标签"""
+        model_meta = self.session.get_modelmeta()
+        
+        # 检查custom_metadata_map是否存在
+        if hasattr(model_meta, 'custom_metadata_map'):
+            metadata = model_meta.custom_metadata_map
+            if 'minMaxValues' in metadata:
+                min_max_data = json.loads(metadata['minMaxValues'])
+                self.min_vals = min_max_data.get('min')
+                self.max_vals = min_max_data.get('max')
+            
+            if 'classes' in metadata:
+                class_labels = json.loads(metadata['classes'])
+                self.class_labels = list(class_labels.values()) if isinstance(class_labels, dict) else class_labels
+        else:
+            # 对于旧版本的ONNX Runtime，使用metadata_props
+            for prop in model_meta.metadata_props:
+                if prop.key == 'minMaxValues':
+                    min_max_data = json.loads(prop.value)
+                    self.min_vals = min_max_data.get('min')
+                    self.max_vals = min_max_data.get('max')
+                elif prop.key == 'classes':
+                    class_labels = json.loads(prop.value)
+                    self.class_labels = list(class_labels.values()) if isinstance(class_labels, dict) else class_labels
+        
+        # 设置默认值
+        if self.class_labels is None:
+            self.class_labels = ["点赞", "点踩", "胜利", "拳头", "我爱你", "手掌"]
+    
+    def preprocess_image(self, image, target_width=224, target_height=224):
+        """
+        预处理图像：保持比例缩放并居中放置在目标尺寸的画布上
+        返回处理后的OpenCV图像 (BGR格式)
+        """
+        # 将OpenCV图像转换为PIL格式
+        image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+        pil_image = Image.fromarray(image_rgb)
+        
+        # 计算缩放比例
+        width, height = pil_image.size
+        scale = min(target_width / width, target_height / height)
+        
+        # 计算新尺寸和位置
+        new_width = int(width * scale)
+        new_height = int(height * scale)
+        x = (target_width - new_width) // 2
+        y = (target_height - new_height) // 2
+        
+        # 创建白色背景画布并粘贴缩放后的图像
+        canvas = Image.new('RGB', (target_width, target_height), (255, 255, 255))
+        resized_image = pil_image.resize((new_width, new_height), Image.Resampling.LANCZOS)
+        canvas.paste(resized_image, (x, y))
+        
+        # 转换回OpenCV格式
+        processed_image = np.array(canvas)
+        return cv2.cvtColor(processed_image, cv2.COLOR_RGB2BGR)
+    
+    def extract_hand_keypoints(self, image):
+        """从图像中提取手部关键点"""
+        # 转换图像为RGB格式并处理
+        image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+        results = self.hands.process(image_rgb)
+        
+        if results.multi_hand_landmarks:
+            # 只使用检测到的第一只手
+            landmarks = results.multi_hand_world_landmarks[0]
+            
+            # 提取关键点坐标
+            keypoints = []
+            for landmark in landmarks.landmark:
+                keypoints.extend([landmark.x, landmark.y, landmark.z])
+                
+            return np.array(keypoints, dtype=np.float32)
+        return None
+    
+    def normalize_keypoints(self, keypoints):
+        """归一化关键点数据"""
+        if self.min_vals is None or self.max_vals is None:
+            return keypoints  # 如果没有归一化参数，返回原始数据
+            
+        normalized = []
+        for i, value in enumerate(keypoints):
+            if i < len(self.min_vals) and i < len(self.max_vals):
+                min_val = self.min_vals[i]
+                max_val = self.max_vals[i]
+                if max_val - min_val > 0:
+                    normalized.append((value - min_val) / (max_val - min_val))
+                else:
+                    normalized.append(0)
+            else:
+                normalized.append(value)
+        
+        return np.array(normalized, dtype=np.float32)
+    
+    def predict_frame(self, frame):
+        """执行手势分类预测（直接处理图像帧）"""
+        # 记录开始时间
+        start_time = time.time()
+        # 预处理图像
+        processed_image = self.preprocess_image(frame, 224, 224)
+        
+        # 提取关键点
+        keypoints = self.extract_hand_keypoints(processed_image)
+        min_time = time.time()
+        hand_time = min_time - start_time      
+        #print(f"关键点识别耗时: {hand_time:.4f}秒")
+        if keypoints is None:
+            return None, {"error": "未检测到手部"}
+        
+        # 归一化关键点
+        normalized_kps = self.normalize_keypoints(keypoints)
+        
+        # 准备ONNX输入
+        input_data = normalized_kps.reshape(1, -1).astype(np.float32)
+        
+        # 运行推理
+        input_name = self.session.get_inputs()[0].name
+        outputs = self.session.run(None, {input_name: input_data})
+        predictions = outputs[0][0]
+        
+        # 获取预测结果
+        class_id = np.argmax(predictions)
+        confidence = float(predictions[class_id])
+        
+        # 获取类别标签
+        label = self.class_labels[class_id] if class_id < len(self.class_labels) else f"未知类别 {class_id}"
+        end_time = time.time()
+        all_time = end_time - start_time      
+        onnx_time = end_time - min_time   
+        print(f"onnx耗时: {onnx_time:.4f}秒")
+        print(f"总耗时: {all_time:.4f}秒")
+        # 返回原始结果和格式化结果
+        raw_result = predictions.tolist()
+        formatted_result = {
+            'class': label,
+            'confidence': confidence,
+            'class_id': class_id,
+            'probabilities': raw_result
+        }
+        
+        return raw_result, formatted_result
+
+    # 保留原始方法以兼容旧代码
+    def predict(self, image_path):
+        """执行手势分类预测（从文件路径）"""
+        try:
+            # 使用PIL库读取图像，避免libpng版本问题
+            pil_image = Image.open(image_path)
+            # 转换为RGB格式
+            rgb_image = pil_image.convert('RGB')
+            # 转换为numpy数组
+            image_array = np.array(rgb_image)
+            # 转换为BGR格式（OpenCV使用的格式）
+            image = cv2.cvtColor(image_array, cv2.COLOR_RGB2BGR)
+            
+            if image is None:
+                raise ValueError(f"无法读取图像: {image_path}")
+            
+            return self.predict_frame(image)
+        except Exception as e:
+            # 如果PIL失败，尝试使用cv2作为备选
+            image = cv2.imread(image_path)
+            if image is None:
+                raise ValueError(f"无法读取图像: {image_path}")
+            return self.predict_frame(image)

smartpi/onnx_image_workflow.py

@@ -0,0 +1,176 @@
+import onnxruntime as ort
+import numpy as np
+from PIL import Image
+import onnx
+import cv2
+import time
+
+class ImageWorkflow:
+    def __init__(self, model_path=None):
+        self.session = None
+        self.classes = []
+        self.metadata = {}
+        self.input_shape = [1, 224, 224, 3]  # 默认输入形状
+        
+        if model_path:
+            self.load_model(model_path)
+
+    def load_model(self, model_path):
+        """加载模型并解析元数据"""
+        try:
+            # 读取ONNX元数据
+            onnx_model = onnx.load(model_path)
+            for meta in onnx_model.metadata_props:
+                self.metadata[meta.key] = meta.value
+            
+            # 解析类别标签
+            if 'classes' in self.metadata:
+                self.classes = eval(self.metadata['classes'])
+            
+            # 初始化推理会话
+            self.session = ort.InferenceSession(model_path)
+            self._parse_input_shape()
+            
+        except Exception as e:
+            print(f"模型加载失败: {e}")
+
+    def _parse_input_shape(self):
+        """自动解析输入形状"""
+        input_info = self.session.get_inputs()[0]
+        shape = []
+        for dim in input_info.shape:
+            # 处理动态维度（用1替代）
+            shape.append(1 if isinstance(dim, str) or dim < 0 else int(dim))
+        self.input_shape = shape
+
+    def _preprocess(self, image_path):
+        """标准化预处理流程"""
+        try:
+            img = Image.open(image_path).convert("RGB")
+            
+            # 获取目标尺寸（假设形状为 [N, H, W, C]）
+            _, target_h, target_w, _ = self.input_shape
+            
+            # 调整尺寸
+            img = img.resize((target_w, target_h), Image.BILINEAR)
+            
+            # 转换为numpy数组并归一化
+            img_array = np.array(img).astype(np.float32) / 255.0
+            
+            # 添加batch维度
+            return np.expand_dims(img_array, axis=0)
+            
+        except Exception as e:
+            print(f"图像预处理失败: {e}")
+            return None
+
+    def inference(self, data, model_path=None):
+        """执行推理"""
+        if model_path and not self.session:
+            self.load_model(model_path)
+        
+        input_data = self._preprocess(data)
+        if input_data is None:
+            return None, None
+        
+        try:
+            # 运行推理
+            outputs = self.session.run(None, {self.session.get_inputs()[0].name: input_data})
+            raw = outputs[0][0]  # 假设输出形状为 [1, n_classes]
+            
+            # 格式化输出
+            formatted = self._format_result(raw)
+            
+            return raw, formatted
+        
+        except Exception as e:
+            print(f"推理失败: {e}")
+            return None, None
+
+    def inference_frame(self, frame_data, model_path=None):
+        """直接使用帧数据进行推理，无需文件IO
+        返回值：raw, formatted
+        formatted字典包含：class, confidence, probabilities, preprocess_time, inference_time
+        """
+        if model_path and not self.session:
+            self.load_model(model_path)
+        
+        # 测量预处理时间
+        preprocess_start = time.time()
+        input_data = self._preprocess_frame(frame_data)
+        preprocess_time = time.time() - preprocess_start
+        
+        if input_data is None:
+            return None, None
+        
+        try:
+            # 测量推理时间
+            inference_start = time.time()
+            # 运行推理
+            outputs = self.session.run(None, {self.session.get_inputs()[0].name: input_data})
+            inference_time = time.time() - inference_start
+            
+            raw = outputs[0][0]  # 假设输出形状为 [1, n_classes]
+            
+            # 格式化输出
+            formatted = self._format_result(raw)
+            # 添加时间信息到返回结果
+            formatted['preprocess_time'] = preprocess_time
+            formatted['inference_time'] = inference_time
+            
+            # 计算总耗时
+            total_time = preprocess_time + inference_time
+            print(f"帧推理耗时: {total_time:.4f}秒 - 识别结果: {formatted['class']} ({formatted['confidence']}%)")
+            return raw, formatted
+        
+        except Exception as e:
+            print(f"帧数据推理失败: {e}")
+            return None, None
+
+    def _preprocess_frame(self, frame_data):
+        """处理帧数据的预处理流程"""
+        try:
+            # 确保输入是numpy数组
+            if not isinstance(frame_data, np.ndarray):
+                print("错误: 帧数据必须是numpy数组")
+                return None
+                
+            # OpenCV读取的帧是BGR格式，转换为RGB
+            img = cv2.cvtColor(frame_data, cv2.COLOR_BGR2RGB)
+            
+            # 获取目标尺寸（假设形状为 [N, H, W, C]）
+            _, target_h, target_w, _ = self.input_shape
+            
+            # 调整尺寸
+            img = cv2.resize(img, (target_w, target_h), interpolation=cv2.INTER_LINEAR)
+            
+            # 转换为numpy数组并归一化
+            img_array = img.astype(np.float32) / 255.0
+            
+            # 添加batch维度
+            return np.expand_dims(img_array, axis=0)
+            
+        except Exception as e:
+            print(f"帧数据预处理失败: {e}")
+            return None
+
+    def _format_result(self, predictions):
+        """生成标准化输出"""
+        class_idx = np.argmax(predictions)
+        confidence = int(predictions[class_idx] * 100)
+        
+        return {
+            'class': self.classes[class_idx] if self.classes else str(class_idx),
+            'confidence': confidence,
+            'probabilities': predictions.tolist()
+        }
+
+# 使用示例
+if __name__ == "__main__":
+    # 预加载模型
+    model = ImageWorkflow("model.onnx")
+    
+    # 使用帧数据进行推理
+    # 假设frame是通过cv2获取的帧
+    # raw, res = model.inference_frame(frame)
+    # print(f"识别结果: {res['class']} ({res['confidence']}%)")