class HolisticEstimator :
"""MediaPipe Holistic 姿态估计器"""
def __init__ (self ):
"""初始化估计器"""
def detect (self , image : np .ndarray , timestamp : float = None ) -> HolisticResult :
"""
检测图像中的人体姿态和手部
Args:
image: RGB图像，shape (H, W, 3)
timestamp: 时间戳
Returns:
HolisticResult: 检测结果
"""
def close (self ) -> None :
"""释放资源""" @dataclass
class HolisticResult :
pose : PoseResult # 33个身体关键点
left_hand : HandResult # 21个左手关键点
right_hand : HandResult # 21个右手关键点
@dataclass
class PoseResult :
landmarks : List [Landmark ] # 关键点列表
detected : bool # 是否检测到
@dataclass
class HandResult :
landmarks : List [Landmark ] # 关键点列表
detected : bool # 是否检测到
@dataclass
class Landmark :
x : float # 归一化X坐标 (0-1)
y : float # 归一化Y坐标 (0-1)
z : float # 相对深度
visibility : float # 可见性 (0-1) 2.1 CoordinateTransformer class CoordinateTransformer :
"""身体坐标变换器"""
def __init__ (self , intrinsics : Intrinsics , depth_scale : float = 0.001 ):
"""
初始化变换器
Args:
intrinsics: 相机内参
depth_scale: 深度缩放因子
"""
def transform_with_filter (
self ,
pose : PoseResult ,
depth_image : np .ndarray ,
image_size : Tuple [int , int ],
min_visibility : float = 0.5 ,
depth_range : Tuple [float , float ] = (0.3 , 4.0 ),
use_enhanced : bool = True
) -> List [Point3D ]:
"""
将2D关键点转换为3D坐标（带滤波）
Args:
pose: 姿态检测结果
depth_image: 深度图
image_size: 图像尺寸 (width, height)
min_visibility: 最小可见性阈值
depth_range: 有效深度范围 (min, max) 米
use_enhanced: 是否使用增强滤波
Returns:
List[Point3D]: 33个3D坐标点
"""
def apply_median_filter (
self ,
depth_image : np .ndarray ,
u : int ,
v : int
) -> Optional [float ]:
"""对深度值应用中值滤波""" 2.2 HandCoordinateTransformer class HandCoordinateTransformer :
"""手部坐标变换器"""
def __init__ (self , intrinsics : Intrinsics , depth_scale : float = 0.001 ):
"""初始化变换器"""
def hand_landmarks_to_3d (
self ,
hand : HandResult ,
depth_image : np .ndarray ,
image_size : Tuple [int , int ],
body_wrist_depth : Optional [float ] = None
) -> List [Point3D ]:
"""
将手部2D关键点转换为3D坐标
Args:
hand: 手部检测结果
depth_image: 深度图
image_size: 图像尺寸
body_wrist_depth: 身体手腕深度（用于参考）
Returns:
List[Point3D]: 21个3D坐标点
""" class Skeleton3D :
"""3D骨骼模型"""
def __init__ (self , joints : Dict [str , Point3D ]):
"""初始化骨骼模型"""
@classmethod
def from_points (cls , points : List [Point3D ]) -> 'Skeleton3D' :
"""从点列表创建骨骼模型"""
def get_joint (self , name : str ) -> Point3D :
"""获取指定关节的3D坐标"""
@dataclass
class Point3D :
x : float # 单位: 米
y : float
z : float
confidence : float = 1.0 class LinearMeasurements :
"""线性尺寸测量"""
@staticmethod
def calculate_height (skeleton : Skeleton3D ) -> float :
"""
计算身高
Returns:
身高（米）
"""
@staticmethod
def calculate_bike_fitting_bones (skeleton : Skeleton3D ) -> Dict [str , float ]:
"""
计算自行车拟合所需的骨骼段长度
Returns:
Dict: 20个骨骼段长度（米）
{
'spine_base_to_spine_mid': float,
'spine_mid_to_spine_shoulder': float,
'spine_shoulder_to_head': float,
'spine_shoulder_to_shoulder_left': float,
'shoulder_left_to_elbow_left': float,
'elbow_left_to_wrist_left': float,
'wrist_left_to_hand_left': float,
'spine_shoulder_to_shoulder_right': float,
'shoulder_right_to_elbow_right': float,
'elbow_right_to_wrist_right': float,
'wrist_right_to_hand_right': float,
'spine_base_to_hip_left': float,
'hip_left_to_knee_left': float,
'knee_left_to_ankle_left': float,
'ankle_left_to_foot_left': float,
'spine_base_to_hip_right': float,
'hip_right_to_knee_right': float,
'knee_right_to_ankle_right': float,
'ankle_right_to_foot_right': float,
}
""" class StabilityDetector :
"""稳定性检测器"""
def __init__ (self , window_size : int = 10 ):
"""
初始化检测器
Args:
window_size: 滑动窗口大小
"""
def add_frame (self , result : HolisticResult ) -> None :
"""添加帧到检测窗口"""
def get_stability (self ) -> StabilityResult :
"""获取稳定性结果"""
def reset (self ) -> None :
"""重置检测器"""
@dataclass
class StabilityResult :
is_stable : bool # 是否稳定
stable_frames : int # 连续稳定帧数 @dataclass
class Intrinsics :
"""相机内参"""
width : int # 图像宽度
height : int # 图像高度
fx : float # X方向焦距
fy : float # Y方向焦距
ppx : float # 主点X坐标
ppy : float # 主点Y坐标
coeffs : List [float ] # 畸变系数 # src/core/constants.py
POSE_CONNECTIONS = [
(11 , 12 ), # 左肩-右肩
(11 , 13 ), # 左肩-左肘
(13 , 15 ), # 左肘-左腕
(12 , 14 ), # 右肩-右肘
(14 , 16 ), # 右肘-右腕
(11 , 23 ), # 左肩-左髋
(12 , 24 ), # 右肩-右髋
(23 , 24 ), # 左髋-右髋
(23 , 25 ), # 左髋-左膝
(25 , 27 ), # 左膝-左踝
(24 , 26 ), # 右髋-右膝
(26 , 28 ), # 右膝-右踝
...
]
HAND_CONNECTIONS = [
(0 , 1 ), (1 , 2 ), (2 , 3 ), (3 , 4 ), # 拇指
(0 , 5 ), (5 , 6 ), (6 , 7 ), (7 , 8 ), # 食指
(0 , 9 ), (9 , 10 ), (10 , 11 ), (11 , 12 ), # 中指
(0 , 13 ), (13 , 14 ), (14 , 15 ), (15 , 16 ), # 无名指
(0 , 17 ), (17 , 18 ), (18 , 19 ), (19 , 20 ), # 小指
(5 , 9 ), (9 , 13 ), (13 , 17 ), # 掌骨连接
]# 面部细节关键点（绘制时忽略）
POSE_IGNORED_LANDMARKS = set (range (1 , 11 )) | set (range (17 , 23 ))