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    gesture_servo

    Uploaded by

    Rudra Abhishek
    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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    © All Rights Reserved
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    gesture_servo

    Uploaded by

    Rudra Abhishek
    0 views2 pages
    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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    © © All Rights Reserved

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    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.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    0 views2 pages

    gesture_servo

    Uploaded by

    Rudra Abhishek
    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.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
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    You are on page 1of 2

    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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