【开发实例】基于BPI-CanMV-K230D-Zero开发板实现人体关键点的实时动态识别

电子发烧友论坛 2025-07-08 994

描述

本文介绍了香蕉派 CanMV K230D Zero 开发板通过摄像头实现人体关键点的实时动态检测识别的项目设计。
https://bbs.elecfans.com/jishu_2493481_1_1.html

项目介绍

人体关键点检测应用使用 YOLOv8n-pose 模型对人体姿态进行检测；
检测结果得到 17 个人体骨骼关键点的位置，并用不同颜色的线将关键点连起来在屏幕显示。

17 个人体骨骼关键点包括：鼻子、左眼、右眼、左耳、右耳、左肩、右肩、左肘、右肘、左腕、右手腕、左髋关节、右髋关节、左膝、右膝盖、左脚踝、右脚踝。

模型官方文档详见：COCO8 Pose 数据集 -Ultralytics YOLO 文档 .

模型训练过程详见：训练部署YOLOv8姿态估计模型 | Seeed Studio Wiki .

流程图

开发板

代码

使用 CanMV IDE 打开 \CanMV\sdcard\examples\05-AI-Demo\person_keypoint_detect.py 文件

from libs.PipeLine import PipeLine, ScopedTiming
from libs.AIBase import AIBase
from libs.AI2D import Ai2d
import os
import ujson
from media.media import *
from time import *
import nncase_runtime as nn
import ulab.numpy as np
import time
import utime
import image
import random
import gc
import sys
import aidemo

# 自定义人体关键点检测类
classPersonKeyPointApp(AIBase):
def__init__(self,kmodel_path,model_input_size,confidence_threshold=0.2,nms_threshold=0.5,rgb888p_size=[1280,720],display_size=[1920,1080],debug_mode=0):
super().__init__(kmodel_path,model_input_size,rgb888p_size,debug_mode)
self.kmodel_path=kmodel_path
# 模型输入分辨率
self.model_input_size=model_input_size
# 置信度阈值设置
self.confidence_threshold=confidence_threshold
# nms阈值设置
self.nms_threshold=nms_threshold
# sensor给到AI的图像分辨率
self.rgb888p_size=[ALIGN_UP(rgb888p_size[0],16),rgb888p_size[1]]
# 显示分辨率
self.display_size=[ALIGN_UP(display_size[0],16),display_size[1]]
self.debug_mode=debug_mode
#骨骼信息
self.SKELETON = [(16, 14),(14, 12),(17, 15),(15, 13),(12, 13),(6, 12),(7, 13),(6, 7),(6, 8),(7, 9),(8, 10),(9, 11),(2, 3),(1, 2),(1, 3),(2, 4),(3, 5),(4, 6),(5, 7)]
#肢体颜色
self.LIMB_COLORS = [(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255),(255, 255, 51, 255),(255, 255, 51, 255),(255, 255, 51, 255),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0)]
#关键点颜色，共17个
self.KPS_COLORS = [(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255)]

# Ai2d实例，用于实现模型预处理
self.ai2d=Ai2d(debug_mode)
# 设置Ai2d的输入输出格式和类型
self.ai2d.set_ai2d_dtype(nn.ai2d_format.NCHW_FMT,nn.ai2d_format.NCHW_FMT,np.uint8, np.uint8)

# 配置预处理操作，这里使用了pad和resize，Ai2d支持crop/shift/pad/resize/affine，具体代码请打开/sdcard/app/libs/AI2D.py查看
defconfig_preprocess(self,input_image_size=None):
with ScopedTiming("set preprocess config",self.debug_mode > 0):
# 初始化ai2d预处理配置，默认为sensor给到AI的尺寸，您可以通过设置input_image_size自行修改输入尺寸
ai2d_input_size=input_image_size if input_image_size else self.rgb888p_size
top,bottom,left,right=self.get_padding_param()
self.ai2d.pad([0,0,0,0,top,bottom,left,right], 0, [0,0,0])
self.ai2d.resize(nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel)
self.ai2d.build([1,3,ai2d_input_size[1],ai2d_input_size[0]],[1,3,self.model_input_size[1],self.model_input_size[0]])

# 自定义当前任务的后处理
defpostprocess(self,results):
with ScopedTiming("postprocess",self.debug_mode > 0):
# 这里使用了aidemo库的person_kp_postprocess接口
results = aidemo.person_kp_postprocess(results[0],[self.rgb888p_size[1],self.rgb888p_size[0]],self.model_input_size,self.confidence_threshold,self.nms_threshold)
return results

#绘制结果，绘制人体关键点
defdraw_result(self,pl,res):
with ScopedTiming("display_draw",self.debug_mode >0):
if res[0]:
pl.osd_img.clear()
kpses = res[1]
for i inrange(len(res[0])):
for k inrange(17+2):
if (k < 17):
kps_x,kps_y,kps_s = round(kpses[i][k][0]),round(kpses[i][k][1]),kpses[i][k][2]
kps_x1 = int(float(kps_x) * self.display_size[0] // self.rgb888p_size[0])
kps_y1 = int(float(kps_y) * self.display_size[1] // self.rgb888p_size[1])
if (kps_s > 0):
pl.osd_img.draw_circle(kps_x1,kps_y1,5,self.KPS_COLORS[k],4)
ske = self.SKELETON[k]
pos1_x,pos1_y= round(kpses[i][ske[0]-1][0]),round(kpses[i][ske[0]-1][1])
pos1_x_ = int(float(pos1_x) * self.display_size[0] // self.rgb888p_size[0])
pos1_y_ = int(float(pos1_y) * self.display_size[1] // self.rgb888p_size[1])

pos2_x,pos2_y = round(kpses[i][(ske[1] -1)][0]),round(kpses[i][(ske[1] -1)][1])
pos2_x_ = int(float(pos2_x) * self.display_size[0] // self.rgb888p_size[0])
pos2_y_ = int(float(pos2_y) * self.display_size[1] // self.rgb888p_size[1])

pos1_s,pos2_s = kpses[i][(ske[0] -1)][2],kpses[i][(ske[1] -1)][2]
if (pos1_s > 0.0and pos2_s >0.0):
pl.osd_img.draw_line(pos1_x_,pos1_y_,pos2_x_,pos2_y_,self.LIMB_COLORS[k],4)
gc.collect()
else:
pl.osd_img.clear()

# 计算padding参数
defget_padding_param(self):
dst_w = self.model_input_size[0]
dst_h = self.model_input_size[1]
input_width = self.rgb888p_size[0]
input_high = self.rgb888p_size[1]
ratio_w = dst_w / input_width
ratio_h = dst_h / input_high
if ratio_w < ratio_h:
ratio = ratio_w
else:
ratio = ratio_h
new_w = (int)(ratio * input_width)
new_h = (int)(ratio * input_high)
dw = (dst_w - new_w) / 2
dh = (dst_h - new_h) / 2
top = int(round(dh - 0.1))
bottom = int(round(dh + 0.1))
left = int(round(dw - 0.1))
right = int(round(dw - 0.1))
return top, bottom, left, right

if __name__=="__main__":
# 显示模式，默认"hdmi",可以选择"hdmi"和"lcd"
display_mode="hdmi"
# k230保持不变，k230d可调整为[640,360]
rgb888p_size = [1920, 1080]

if display_mode=="hdmi":
display_size=[1920,1080]
else:
display_size=[800,480]
# 模型路径
kmodel_path="/sdcard/examples/kmodel/yolov8n-pose.kmodel"
# 其它参数设置
confidence_threshold = 0.2
nms_threshold = 0.5
# 初始化PipeLine
pl=PipeLine(rgb888p_size=rgb888p_size,display_size=display_size,display_mode=display_mode)
pl.create()
# 初始化自定义人体关键点检测实例
person_kp=PersonKeyPointApp(kmodel_path,model_input_size=[320,320],confidence_threshold=confidence_threshold,nms_threshold=nms_threshold,rgb888p_size=rgb888p_size,display_size=display_size,debug_mode=0)
person_kp.config_preprocess()
whileTrue:
with ScopedTiming("total",1):
# 获取当前帧数据
img=pl.get_frame()
# 推理当前帧
res=person_kp.run(img)
# 绘制结果到PipeLine的osd图像
person_kp.draw_result(pl,res)
# 显示当前的绘制结果
pl.show_image()
gc.collect()
person_kp.deinit()
pl.destroy()