diff --git a/src/drone_hand_gesture/main_airsim.py b/src/drone_hand_gesture/main_airsim.py index 209461a8e..b19bc44de 100644 --- a/src/drone_hand_gesture/main_airsim.py +++ b/src/drone_hand_gesture/main_airsim.py @@ -13,7 +13,7 @@ sys.path.append(os.path.dirname(os.path.abspath(__file__))) from airsim_controller import AirSimController -from gesture_detector_enhanced import EnhancedGestureDetector +from gesture_detector import GestureDetector def main(show_window=True): @@ -42,10 +42,10 @@ def main(show_window=True): # 2. 初始化手势检测器 print("\n[2/4] 正在初始化手势检测器...") - print("[DEBUG] 正在创建 EnhancedGestureDetector 实例...") - detector = EnhancedGestureDetector(use_ml=False) - print("[DEBUG] EnhancedGestureDetector 实例创建成功") - print("[OK] 手势检测器就绪") + print("[DEBUG] 正在创建 GestureDetector 实例...") + detector = GestureDetector() + print("[DEBUG] GestureDetector 实例创建成功") + print("[OK] 手势检测器就绪（规则检测）") # 3. 初始化摄像头 print("\n[3/4] 正在初始化摄像头...") @@ -69,13 +69,14 @@ def main(show_window=True): print("\n[4/4] 系统就绪！") print("\n" + "=" * 70) print("手势控制:") - print(" 张开手掌 - 悬停") - print(" 食指向上 - 上升") - print(" 食指向下 - 下降") - print(" 指向左侧 - 左移") - print(" 指向右侧 - 右移") - print(" 两指向前 - 前进") - print(" 握拳 - 降落") + print(" 张开手掌 - 起飞") + print(" 握拳 - 降落") + print(" 食指上指 - 上升") + print(" 食指向下 - 下降") + print(" 胜利手势 - 前进") + print(" 大拇指 - 后退") + print(" OK手势 - 悬停") + print(" 大拇指向下 - 停止") print("\n键盘控制:") print(" 空格键 - 起飞/降落") print(" T - 手动起飞") @@ -87,9 +88,12 @@ def main(show_window=True): # 主循环 is_flying = False - last_gesture_time = 0 + last_command_time = 0 current_gesture = "" - gesture_hold_duration = 1.0 + last_processed_gesture = "" + last_processed_time = 0 + command_cooldown = 1.5 # 命令冷却时间（秒） + gesture_threshold = 0.5 # 置信度阈值（gesture_detector返回0.75-0.95） frame_count = 0 start_time = time.time() @@ -102,6 +106,8 @@ def main(show_window=True): print("[WARNING] 无法读取摄像头画面") break + # 镜像翻转画面，让操作更自然 + frame = cv2.flip(frame, 1) frame_count += 1 # 手势识别 @@ -116,48 +122,73 @@ def main(show_window=True): cv2.putText(debug_frame, f"Gesture: {gesture} ({confidence:.2f})", (10, 60), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2) - # 处理手势 - if gesture and gesture != "none" and gesture != "no_hand": - current_time = time.time() - - if gesture == current_gesture: - if current_time - last_gesture_time > gesture_hold_duration: - print(f"[CMD] 手势：{gesture}") - - if gesture == 'fist': - if is_flying: - print("[INFO] 降落...") - controller.land() - is_flying = False - - elif gesture == 'point_up': - print("[INFO] 上升") - controller.move_by_velocity(0, 0, -1.0, duration=0.5) - - elif gesture == 'point_down': - print("[INFO] 下降") - controller.move_by_velocity(0, 0, 1.0, duration=0.5) - - elif gesture == 'point_left': - print("[INFO] 左移") - controller.move_by_velocity(-1.0, 0, 0, duration=0.5) - - elif gesture == 'point_right': - print("[INFO] 右移") - controller.move_by_velocity(1.0, 0, 0, duration=0.5) - - elif gesture == 'victory': - print("[INFO] 前进") - controller.move_by_velocity(0, 1.0, 0, duration=0.5) - - elif gesture == 'open_palm': - print("[INFO] 悬停") - controller.hover() - - last_gesture_time = current_time - else: - current_gesture = gesture - last_gesture_time = current_time + # 处理手势（参考main.py的优化逻辑） + current_time = time.time() + in_cooldown = current_time - last_command_time <= command_cooldown + same_gesture = (gesture == last_processed_gesture and + current_time - last_processed_time < 2.0) + + # 使用detector的get_command方法获取指令（与main.py一致） + command = detector.get_command(gesture) + + if (gesture not in ["no_hand", "hand_detected", "none"] + and confidence > gesture_threshold + and not in_cooldown + and not same_gesture + and command != "none"): + + print(f"[CMD] 手势：{gesture} (置信度: {confidence:.2f}) -> 执行: {command}") + + # 根据command执行对应操作（与main.py的drone_controller.send_command逻辑一致） + if command == "land": + if is_flying: + print("[INFO] 降落...") + controller.land() + is_flying = False + + elif command == "up": + print("[INFO] 上升") + controller.move_by_velocity(0, 0, -1.0, duration=0.5) + + elif command == "down": + print("[INFO] 下降") + controller.move_by_velocity(0, 0, 1.0, duration=0.5) + + elif command == "left": + print("[INFO] 左移") + controller.move_by_velocity(-1.0, 0, 0, duration=0.5) + + elif command == "right": + print("[INFO] 右移") + controller.move_by_velocity(1.0, 0, 0, duration=0.5) + + elif command == "forward": + print("[INFO] 前进") + controller.move_by_velocity(0, 1.0, 0, duration=0.5) + + elif command == "backward": + print("[INFO] 后退") + controller.move_by_velocity(0, -1.0, 0, duration=0.5) + + elif command == "hover": + print("[INFO] 悬停") + controller.hover() + + elif command == "takeoff": + if not is_flying: + print("[INFO] 起飞...") + controller.takeoff() + is_flying = True + + elif command == "stop": + print("[INFO] 停止") + controller.hover() + + # 更新状态 + last_command_time = current_time + last_processed_gesture = gesture + last_processed_time = current_time + current_gesture = gesture # 显示画面 if show_window: diff --git a/src/drone_hand_gesture/run_airsim.bat b/src/drone_hand_gesture/run_airsim.bat index 89c3db632..0fde09713 100644 --- a/src/drone_hand_gesture/run_airsim.bat +++ b/src/drone_hand_gesture/run_airsim.bat @@ -1,28 +1,12 @@ @echo off -chcp 65001 >nul echo ================================================ echo Drone Gesture Control - AirSim Version echo ================================================ -echo. -echo Checking if AirSim is running... -echo. - -REM Check if AirSim is running -tasklist /FI "WINDOWTITLE eq Blocks" 2>nul | find "Blocks.exe" >nul -if %ERRORLEVEL% NEQ 0 ( - echo [WARNING] AirSim is not running! - echo. - echo Please start AirSim simulator first: - echo Double click: Blocks.exe - echo Note: Blocks.exe is usually in the AirSim installation directory - echo. - echo Press any key to continue (if AirSim is already running)... - pause >nul -) - echo. echo Starting gesture control program... echo. +echo Please make sure AirSim (Blocks.exe) is running! +echo. cd /d "%~dp0" python main_airsim.py @@ -30,4 +14,5 @@ python main_airsim.py echo. echo ================================================ echo Program exited +echo ================================================ pause