Welcome to MicroROS-Pi5 repository
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8. Brush
Brush
1、Introduction
MediaPipe is an open source data stream processing machine learning application development framework developed by Google. It is a graph-based data processing pipeline for building and using multiple forms of data sources, such as video, audio, sensor data, and any time series data. MediaPipe is cross-platform and can run on embedded platforms (Raspberry Pi, etc.), mobile devices (iOS and Android), workstations and servers, and supports mobile GPU acceleration.
MediaPipe provides cross-platform, customizable ML solutions for real-time and streaming media. The core framework of MediaPipe is implemented in C++ and provides support for languages such as Java and Objective C. The main concepts of MediaPipe include Packet, Stream, Calculator, Graph and Subgraph.
Features of MediaPipe：
End-to-end acceleration: Built-in fast ML inference and processing accelerates even on commodity hardware.
Build once, deploy anywhere: Unified solutions for Android, iOS, desktop/cloud, web and IoT.
Ready-to-use solutions: Cutting-edge ML solutions that showcase the full capabilities of the framework.
Free and open source: frameworks and solutions under Apache2.0, fully extensible and customizable.
2、Brush
When the right and middle fingers are merged, they are in the selection state, and a color selection box pops up. When the two fingertips move to the corresponding color position, select the color (where 'is an eraser');
The middle and middle fingers are in a drawing state and can be drawn freely on the drawing board.
2.1、Start
After entering the docker container, enter the following command in the terminal.
cd ~/yahboomcar_ws/src/yahboomcar_mediapipe/yahboomcar_mediapipepython3 09_VirtualPaint.py
2.2、Code
After entering the docker container, the location of the source code of this function is as follows
xxxxxxxxxx/root/yahboomcar_ws/src/yahboomcar_mediapipe/yahboomcar_mediapipe/09_VirtualPaint.py
x#!/usr/bin/env python3# encoding: utf-8import mathimport timeimport cv2 as cvimport numpy as npimport mediapipe as mp
xp = yp = pTime = boxx = 0tipIds = [4, 8, 12, 16, 20]imgCanvas = np.zeros((480, 640, 3), np.uint8)brushThickness = 5eraserThickness = 100top_height = 50Color = "Red"ColorList = { 'Red': (0, 0, 255), 'Green': (0, 255, 0), 'Blue': (255, 0, 0), 'Yellow': (0, 255, 255), 'Black': (0, 0, 0),}
class handDetector: def __init__(self, mode=False, maxHands=2, detectorCon=0.5, trackCon=0.5): self.tipIds = [4, 8, 12, 16, 20] self.mpHand = mp.solutions.hands self.mpDraw = mp.solutions.drawing_utils self.hands = self.mpHand.Hands( static_image_mode=mode, max_num_hands=maxHands, min_detection_confidence=detectorCon, min_tracking_confidence=trackCon ) self.lmDrawSpec = mp.solutions.drawing_utils.DrawingSpec(color=(0, 0, 255), thickness=-1, circle_radius=15) self.drawSpec = mp.solutions.drawing_utils.DrawingSpec(color=(0, 255, 0), thickness=10, circle_radius=10)
def findHands(self, frame, draw=True): self.lmList = [] img_RGB = cv.cvtColor(frame, cv.COLOR_BGR2RGB) self.results = self.hands.process(img_RGB) if self.results.multi_hand_landmarks: for handLms in self.results.multi_hand_landmarks: if draw: self.mpDraw.draw_landmarks(frame, handLms, self.mpHand.HAND_CONNECTIONS, self.lmDrawSpec, self.drawSpec) else: self.mpDraw.draw_landmarks(frame, handLms, self.mpHand.HAND_CONNECTIONS) for id, lm in enumerate(self.results.multi_hand_landmarks[0].landmark): h, w, c = frame.shape cx, cy = int(lm.x * w), int(lm.y * h) # print(id, cx, cy) self.lmList.append([id, cx, cy]) return frame, self.lmList
def fingersUp(self): fingers=[] # Thumb if (self.calc_angle(self.tipIds[0], self.tipIds[0] - 1, self.tipIds[0] - 2) > 150.0) and ( self.calc_angle( self.tipIds[0] - 1, self.tipIds[0] - 2, self.tipIds[0] - 3) > 150.0): fingers.append(1) else: fingers.append(0) # 4 finger for id in range(1, 5): if self.lmList[self.tipIds[id]][2] < self.lmList[self.tipIds[id] - 2][2]: fingers.append(1) else: fingers.append(0) return fingers
def get_dist(self, point1, point2): x1, y1 = point1 x2, y2 = point2 return abs(math.sqrt(math.pow(abs(y1 - y2), 2) + math.pow(abs(x1 - x2), 2)))
def calc_angle(self, pt1, pt2, pt3): point1 = self.lmList[pt1][1], self.lmList[pt1][2] point2 = self.lmList[pt2][1], self.lmList[pt2][2] point3 = self.lmList[pt3][1], self.lmList[pt3][2] a = self.get_dist(point1, point2) b = self.get_dist(point2, point3) c = self.get_dist(point1, point3) try: radian = math.acos((math.pow(a, 2) + math.pow(b, 2) - math.pow(c, 2)) / (2 * a * b)) angle = radian / math.pi * 180 except: angle = 0 return abs(angle)
if __name__ == '__main__': capture = cv.VideoCapture(0) capture.set(6, cv.VideoWriter.fourcc('M', 'J', 'P', 'G')) capture.set(cv.CAP_PROP_FRAME_WIDTH, 640) capture.set(cv.CAP_PROP_FRAME_HEIGHT, 480) print("capture get FPS : ", capture.get(cv.CAP_PROP_FPS)) hand_detector = handDetector(detectorCon=0.85) while capture.isOpened(): ret, frame = capture.read() # frame = cv.flip(frame, 1) h, w, c = frame.shape frame,lmList = hand_detector.findHands(frame, draw=False) if len(lmList) != 0: # print(lmList) # tip of index and middle fingers x1, y1 = lmList[8][1:] x2, y2 = lmList[12][1:] fingers = hand_detector.fingersUp() if fingers[1] and fingers[2]: # print("Seclection mode") if y1 < top_height: if 0 < x1 < int(w / 5) - 1: boxx = 0 Color = "Red" if int(w / 5) < x1 < int(w * 2 / 5) - 1: boxx = int(w / 5) Color = "Green" elif int(w * 2 / 5) < x1 < int(w * 3 / 5) - 1: boxx = int(w * 2 / 5) Color = "Blue" elif int(w * 3 / 5) < x1 < int(w * 4 / 5) - 1: boxx = int(w * 3 / 5) Color = "Yellow" elif int(w * 4 / 5) < x1 < w - 1: boxx = int(w * 4 / 5) Color = "Black" cv.rectangle(frame, (x1, y1 - 25), (x2, y2 + 25), ColorList[Color], cv.FILLED) cv.rectangle(frame, (boxx, 0), (boxx + int(w / 5), top_height), ColorList[Color], cv.FILLED) cv.rectangle(frame, (0, 0), (int(w / 5) - 1, top_height), ColorList['Red'], 3) cv.rectangle(frame, (int(w / 5) + 2, 0), (int(w * 2 / 5) - 1, top_height), ColorList['Green'], 3) cv.rectangle(frame, (int(w * 2 / 5) + 2, 0), (int(w * 3 / 5) - 1, top_height), ColorList['Blue'], 3) cv.rectangle(frame, (int(w * 3 / 5) + 2, 0), (int(w * 4 / 5) - 1, top_height), ColorList['Yellow'], 3) cv.rectangle(frame, (int(w * 4 / 5) + 2, 0), (w - 1, top_height), ColorList['Black'], 3) if fingers[1] and fingers[2] == False and math.hypot(x2 - x1, y2 - y1) > 50: # print("Drawing mode") if xp == yp == 0: xp, yp = x1, y1 if Color == 'Black': cv.line(frame, (xp, yp), (x1, y1), ColorList[Color], eraserThickness) cv.line(imgCanvas, (xp, yp), (x1, y1), ColorList[Color], eraserThickness) else: cv.line(frame, (xp, yp), (x1, y1), ColorList[Color], brushThickness) cv.line(imgCanvas, (xp, yp), (x1, y1), ColorList[Color], brushThickness) cv.circle(frame, (x1, y1), 15, ColorList[Color], cv.FILLED) xp, yp = x1, y1 else: xp = yp = 0 imgGray = cv.cvtColor(imgCanvas, cv.COLOR_BGR2GRAY) _, imgInv = cv.threshold(imgGray, 50, 255, cv.THRESH_BINARY_INV) imgInv = cv.cvtColor(imgInv, cv.COLOR_GRAY2BGR) frame = cv.bitwise_and(frame, imgInv) frame = cv.bitwise_or(frame, imgCanvas) if cv.waitKey(1) & 0xFF == ord('q'): break cTime = time.time() fps = 1 / (cTime - pTime) pTime = cTime text = "FPS : " + str(int(fps)) cv.rectangle(frame, (20, h - 100), (50, h - 70), ColorList[Color], cv.FILLED) cv.putText(frame, Color, (70, h - 75), cv.FONT_HERSHEY_SIMPLEX, 0.9, (0, 0, 255), 1) cv.putText(frame, text, (20, h-30), cv.FONT_HERSHEY_SIMPLEX, 0.9, (0, 0, 255), 1) cv.imshow('frame', frame) capture.release() cv.destroyAllWindows()