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Gesture Servo

The document contains a Python script that utilizes OpenCV and a hand tracking module to measure the distance of a hand from a camera and control a servo motor based on that distance. It calculates the focal length using a reference image and adjusts the servo position if the detected distance falls within a specified range. The script continuously captures video frames, detects hand positions, and displays the calculated distance on the screen.

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Rudra Abhishek
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13 views2 pages

Gesture Servo

The document contains a Python script that utilizes OpenCV and a hand tracking module to measure the distance of a hand from a camera and control a servo motor based on that distance. It calculates the focal length using a reference image and adjusts the servo position if the detected distance falls within a specified range. The script continuously captures video frames, detects hand positions, and displays the calculated distance on the screen.

Uploaded by

Rudra Abhishek
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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import cv2

from cvzone.HandTrackingModule import HandDetector


import RPi.GPIO as GPIO
import pigpio
import time

servo = 23 #bcm mode

pwm = pigpio.pi()
pwm.set_mode(servo, pigpio.OUTPUT)

pwm.set_PWM_frequency( servo, 50 )

print( "0 deg" )


pwm.set_servo_pulsewidth( servo, 500 ) ;
time.sleep( 3 )

detector=HandDetector(detectionCon=0.5,maxHands=1)
width=640
height=480
Known_distance = 50.0
Known_width = 9.0

cap=cv2.VideoCapture(0)
a=[]
def Focal_Length_Finder(Known_distance, real_width, width_in_rf_image):

focal_length = (width_in_rf_image * Known_distance) / real_width


return focal_length
def obj_data(img):
obj_width=0
hands,frame=detector.findHands(img)
if hands:
hands1=hands[0]
bbox=hands1["bbox"]
x,y,w,h=bbox
a.append([x,y])
obj_width=w
return obj_width
def Distance_finder(Focal_Length, Known_width, obj_width_in_frame):
distance = (Known_width * Focal_Length)/obj_width_in_frame
return int(distance+5)

ref_image = cv2.imread("/home/rdr/rf.png")
ref_image_obj_width = obj_data(ref_image)
Focal_length_found = Focal_Length_Finder(Known_distance, Known_width,
ref_image_obj_width)
cv2.imshow("ref_image", ref_image)

print(Focal_length_found)

while True:
ret,frame=cap.read()
#frame=cv2.flip(frame,1)
obj_width_in_frame=obj_data(frame)
if not obj_width_in_frame:
print("no hands")
else:
Distance = Distance_finder(Focal_length_found, Known_width,
obj_width_in_frame)
print(Distance)
if(Distance>=15 or Distance<=50):

print( "90 deg" )


pwm.set_servo_pulsewidth( servo, 1500 ) ;
time.sleep(3)
print( "0 deg" )
pwm.set_servo_pulsewidth( servo, 500 ) ;

for i in a:
x1=i[0]
y1=i[1]

cv2.putText(frame, f"Distance: {round(Distance,2)} CM", (x1,


y1),cv2.FONT_HERSHEY_PLAIN, 2, (255,0,0), 2)

frame=cv2.imshow("FRAME",frame)

cv2.waitKey(1)

cap.relase()
cv2.destroyAllWindows()

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