servo control.py

import cv2
import mediapipe as mp
import math
import pyfirmata
import numpy as np


# mediapipe library requires us to provide a "confidence" value that determines how strictly it must check for hands.

# here we are informing pyfirmata which port to use
my_port = 'com10'
board = pyfirmata.Arduino(my_port)
iter8 = pyfirmata.util.Iterator(board)
iter8.start()

# pin number of our servo motor is 9
pin9  = board.get_pin('d:8:s')


# the following three lines are to help us change the colors of our finger tips and line joining them in mediapipe library
mp_drawing = mp.solutions.drawing_utils
hand_mpDraw = mp.solutions.drawing_utils
mp_hands = mp.solutions.hands
# the motor function will send the isntruction to our pyfirmata library which will send it to our arduino
def move_servo(angle):
    pin9.write(angle)

# Since we cannot create a dotted line in openCV directly, I wrote a function that will take two points and create a dotted line betweenn them.
# we are using this dotted line to adjust the intensity of light
def drawline(img, pt1, pt2, color, thickness=1, style='dotted', gap=20):
    dist = ((pt1[0] - pt2[0]) ** 2 + (pt1[1] - pt2[1]) ** 2) ** .5
    pts = []
    for i in np.arange(0, dist, gap):
        r = i / dist
        x = int((pt1[0] * (1 - r) + pt2[0] * r) + .5)
        y = int((pt1[1] * (1 - r) + pt2[1] * r) + .5)
        p = (x, y)
        pts.append(p)
    if style == 'dotted':
        for p in pts:
            cv2.circle(img, p, thickness, color, -1)
    else:
        s = pts[0]
        e = pts[0]
        i = 0
        for p in pts:
            s = e
            e = p
            if i % 2 == 1:
                cv2.line(img, s, e, color, thickness)
            i += 1

cap = cv2.VideoCapture(0)
# distance is a variable that we will use later in our code. But we must initiate it beffore our while loop. so iam providing it with a garbage value
distance = -19723086135
with mp_hands.Hands(
        min_detection_confidence=0.5,
        min_tracking_confidence=0.5) as hands:
    while cap.isOpened():
        success, image = cap.read()
        image = cv2.flip(image, 1)
        image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
        image.flags.writeable = False
        results = hands.process(image)
        image.flags.writeable = True
        image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
        exit_x, exit_y = 700, 100
        exit_w, exit_h = 400, 100
        # The next line is used to create a rectangle with x,y and w,h cordinates
        cv2.rectangle(image, (exit_x, exit_y), (exit_x + exit_w, exit_y + exit_h), (255, 0, 255), cv2.FILLED)
        # The next line will put some text on our image
        cv2.putText(image, "Join your index and middle fingers to exit", (exit_x + 30, exit_y + 65),cv2.FONT_HERSHEY_PLAIN, 2, (255, 255, 255), 2)
        if results.multi_hand_landmarks:
            for hand_landmarks in results.multi_hand_landmarks:
                lmList = []
                for id, lm in enumerate(hand_landmarks.landmark):
                    h, w, c = image.shape
                    cx, cy = int(lm.x * w), int(lm.y * h)
                    lmList.append([id, cx, cy])
                    tips = [0, 4, 8, 12, 16, 20]
                    if id in tips:
                        cv2.circle(image, (cx, cy), 15, (255, 255, 255), cv2.FILLED)
                drawline(image, (lmList[4][1], lmList[4][2]), (lmList[8][1], lmList[8][2]), (255, 255, 255),thickness=1, style='dotted', gap=10)
                # let us calculate the distance between them and assign it to a variable named "angle"
                angle = int(math.hypot(lmList[8][1] - lmList[4][1], lmList[8][2] - lmList[4][2]) / 2)
                print(angle)
                # let's call our "move_servo" function.
                move_servo(angle)
                mp_drawing.draw_landmarks(image,hand_landmarks,mp_hands.HAND_CONNECTIONS,landmark_drawing_spec=hand_mpDraw.DrawingSpec(color=(0, 0, 0)),connection_drawing_spec=hand_mpDraw.DrawingSpec(color=(201, 194, 2)))
        cv2.imshow('MediaPipe Hands', image)
        cv2.waitKey(1)
cap.release()
cv2.destroyAllWindows()