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9. Gesture control car action group
Gesture control car to make shapes
Note: The ROS_DOMAIN_ID of the Raspberry Pi needs to be consistent with that of the microROS control board. You can check [MicroROS Control Board Parameter Configuration] to set the microROS control board ROS_DOMAIN_ID. Check the tutorial [Connect MicroROS Agent] to determine whether the IDs are consistent.
1、Program function description
After the function is turned on, the camera captures images and recognizes relevant gestures to control the movement of the car.
| Gesture number "5" | Car stops |
|---|---|
| Gesture“yes” | The car moves in a square |
| Gesture “ok” | The car spins in circles |
| Gesture “rock”（The index finger and little finger are straight, the other fingers are bent） | The car takes an S shape |
| Gesture of contempt（Clench your fist, extend your thumb, and point your thumb down） | The car goes forward and then backward |
Here, after each gesture is completed, it will return to the initial position and beep, waiting for the next gesture recognition.
MediaPipe Hands infers the 3D coordinates of 21 hand-valued joints from a frame.
2、Program code reference path
After entering the docker container, the location of the source code of this function is as follows.
/root/yahboomcar_ws/src/yahboomcar_mediapipe/yahboomcar_mediapipe/
3、Program start
3.1、Start command
After entering the docker container, enter the following command in the terminal
xxxxxxxxxxros2 run yahboomcar_mediapipe FingerCtrl
Turn on this function, then put your hand in front of the camera, and the shape of the finger will be drawn on the screen. After the program recognizes the gesture, it will send the speed to the chassis to control the movement of the car.
4、core code
4.1、 FingerCtrl.py
xxxxxxxxxxframe, lmList, bbox = self.hand_detector.findHands(frame) #Detect palmfingers = self.hand_detector.fingersUp(lmList) #Get finger coordinatesgesture = self.hand_detector.get_gesture(lmList) #Get gestureFor the specific implementation process of the above three functions, please refer to the content in media_library.pyThe implementation process here is also very simple. The main function opens the camera to obtain data and then passes it to the process function, which performs "detect palm" -> "get finger coordinates" -> "get gesture" in order, and then determine the needs based on the gesture results. The action performed.
4.2、flow chart
