简单的手指控制机械臂

跟之前的那个项目类似, 使用mediapipe, 拿到手指的位置, 来控制舵机, 从而控制一个机械臂.

直接上代码:

"""
演示一个简单的虚拟拖拽
步骤：
1、opencv 读取视频流

"""

# 导入opencv
import cv2
import numpy as np
import math
import serial

# 导入mediapipe：https://google.github.io/mediapipe/solutions/hands
import mediapipe as mp

serialFd = serial.Serial('com7', 115200, timeout=0.5)
mp_drawing = mp.solutions.drawing_utils
mp_drawing_styles = mp.solutions.drawing_styles
mp_hands = mp.solutions.hands

hands = mp_hands.Hands(
    model_complexity=0,
    min_detection_confidence=0.5,
    min_tracking_confidence=0.5)

# 读取视频流
cap = cv2.VideoCapture(0)

# 找不到摄像头就直接退出

# 获取画面宽度、高度
width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))

gX = 0;
gY = 0;

while True:
    ret, frame = cap.read()

    # 镜像
    frame = cv2.flip(frame, 1)

    frame.flags.writeable = False
    frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
    # 识别
    results = hands.process(frame)

    frame.flags.writeable = True
    frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)

    # 如果有结果
    if results.multi_hand_landmarks:

        # 遍历双手
        for hand_landmarks in results.multi_hand_landmarks:
            mp_drawing.draw_landmarks(
                frame,
                hand_landmarks,
                mp_hands.HAND_CONNECTIONS,
                mp_drawing_styles.get_default_hand_landmarks_style(),
                mp_drawing_styles.get_default_hand_connections_style())

            # 使用这两句看一下里面到底是什么？
            # print(type(hand_landmarks))
            # print(hand_landmarks)
            # exit()

            # 21 个关键点的x,y坐标列表
            x_list = []
            y_list = []
            for landmark in hand_landmarks.landmark:
                x_list.append(landmark.x)
                y_list.append(landmark.y)

            # 输出一下长度
            # print(len(x_list))

            # 获取食指指尖坐标，坐标位置查看：https://google.github.io/mediapipe/solutions/hands
            index_finger_x = int(x_list[8] * width)
            index_finger_y = int(y_list[8] * height)

            # print(index_finger_x)
            xPos = int(index_finger_x / 680 * 180)
            data_to_send = f"X={
     xPos}\r\n"
            print(data_to_send)
            # if((index_finger_x > gX ) and (index_finger_x - gX > 10)):
            # print("right")
            serialFd.write(data_to_send.encode('ascii'))
            # serialFd.write((bytearray('s','ascii')))

            # if((index_finger_x < gX ) and (gX - index_finger_x > 10)):
            # print("left")
            # serialFd.write((bytearray('w','ascii')))

            gX = index_finger_x;

            # 获取中指坐标
            # middle_finger_x = int(x_list[12] * width)
            # middle_finger_y = int(y_list[12] * height)

            # 计算两指距离
            # finger_distance =math.sqrt( (middle_finger_x - index_finger_x)**2 + (middle_finger_y-index_finger_y)**2)
            # finger_distance = math.hypot((middle_finger_x - index_finger_x),(middle_finger_y - index_finger_y))

            # 看一下距离
            # print(finger_distance)

            # 把食指指尖画出来
            cv2.circle(frame, (index_finger_x, index_finger_y), 20, (0, 0, 255), -1)

    # 显示画面
    cv2.imshow('demo', frame)

    if cv2.waitKey(10) & 0xFF == ord('q'):
        break

cap.release()
cv2.destroyAllWindows()

即拿到食指尖的位置, 转换成180度的舵机角度, 来控制stm32的控制的舵机.
stm32代码在下面:

https://github.com/MontaukLaw/servor_controller