{"id":347,"date":"2022-06-13T12:22:14","date_gmt":"2022-06-13T03:22:14","guid":{"rendered":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/?page_id=347"},"modified":"2022-06-13T19:25:49","modified_gmt":"2022-06-13T10:25:49","slug":"send_angle","status":"publish","type":"page","link":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/research\/sigaci_ws_in_hi2022\/send_angle\/","title":{"rendered":"\u691c\u51fa\u3055\u308c\u305f\u89d2\u5ea6\u306b\u30b5\u30fc\u30dc\u3092\u52d5\u304b\u3059"},"content":{"rendered":"\n<p>\u3042\u3068\u306f\u6a19\u6e96\u51fa\u529b\u304b\u3089\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u306b\u51fa\u529b\u5148\u3092\u5909\u66f4\u3059\u308b\u3060\u3051\u3067\u3059\u3002Bluetooth\u63a5\u7d9a\u3055\u308c\u305f\u30dd\u30fc\u30c8\u756a\u53f7\u3092\u30d7\u30ed\u30b0\u30e9\u30e0\u5185\u306b\u8a18\u5165\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<p>import serial<br>pre_angle_s = 0<br>ser = serial.Serial(&#8216;COM5&#8217;, 115200) #\u30dd\u30fc\u30c8\u756a\u53f7\u3068\u901f\u5ea6\u306f\u74b0\u5883\u306b\u5408\u308f\u305b\u3066\u5909\u66f4<br>&#8230;..<br>ser.write(str.encode(str(int(angle_s))+&#8221;\\n&#8221;))<br>&#8230;.<br>ser.close()<\/p>\n\n\n\n<p>\u306a\u3069\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002\u3042\u308b\u7a0b\u5ea6\u691c\u51fa\u89d2\u5ea6\u306e\u5909\u5316\u304c\u3042\u3063\u305f\u5834\u5408\u306b\u5024\u3092\u9001\u4fe1\u3059\u308b\u3088\u3046\u306b\u3057\u3066\u304a\u304f\u3068\u3001\u30b5\u30fc\u30dc\u304c\u5fd9\u3057\u304f\u52d5\u304d\u307e\u305b\u3093\u3002\u6b21\u306e\u4f8b\u3067\u306f\u30011\u30b9\u30c6\u30c3\u30d7\u524d\u306e\u5024\u30685\u3088\u308a\u5927\u304d\u306a\u5dee\u304c\u3042\u308c\u3070\u30b5\u30fc\u30dc\u306b\u6570\u5024\u3092\u9001\u308b\u3088\u3046\u306b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>import cv2\nimport math\nimport mediapipe as mp\n<mark style=\"background-color:#dd8e18\" class=\"has-inline-color\"><strong>import serial<\/strong><\/mark>\n\nmp_drawing = mp.solutions.drawing_utils\nmp_drawing_styles = mp.solutions.drawing_styles\nmp_pose = mp.solutions.pose\n<mark style=\"background-color:#dd8e18\" class=\"has-inline-color\"><strong>pre_angle_s = 0\nser = serial.Serial('COM5', 115200)<\/strong><\/mark>\n\ncap = cv2.VideoCapture(1)\nwith mp_pose.Pose(\n    min_detection_confidence=0.5,\n    min_tracking_confidence=0.5) as pose:\n  while cap.isOpened():\n    success, image = cap.read()\n    if not success:\n      print(\"Ignoring empty camera frame.\")\n      continue\n\n    image.flags.writeable = False\n    image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)\n    results = pose.process(image)\n\n    image.flags.writeable = True\n    image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)\n    mp_drawing.draw_landmarks(\n        image,\n        results.pose_landmarks,\n        mp_pose.POSE_CONNECTIONS,\n        landmark_drawing_spec=mp_drawing_styles.get_default_pose_landmarks_style())\n    if results.pose_landmarks:\n      x1=results.pose_landmarks.landmark&#91;12].x #x1,y1 = shoulder\n      x2=results.pose_landmarks.landmark&#91;14].x #x2,y2 = elbow\n      y1=results.pose_landmarks.landmark&#91;12].y\n      y2=results.pose_landmarks.landmark&#91;14].y\n      \n      if x2&lt;x1:\n        angle_s = int(math.degrees(math.atan((y2-y1)\/(x1-x2))))\n      else:# x2>=x1\n        angle_s = int(180+math.degrees(math.atan((y2-y1)\/(x1-x2))))\n\n      if angle_s &lt; 0:\n        angle_s = 0\n      elif angle_s > 180:\n        angle_s = 180\n\n      #print(\"\\r\"+str(angle_s))\n\n      #Bluetooth\u3067\u9001\u4fe1\n<strong><mark style=\"background-color:#dd8e18\" class=\"has-inline-color\">      if abs(angle_s-pre_angle_s)>5:\n        ser.write(str.encode(str(angle_s)+\"\\n\"))\n        pre_angle_s = angle_s<\/mark><\/strong>\n\n\n    cv2.imshow('SIGACI', cv2.flip(image, 1))\n    if cv2.waitKey(5) &amp; 0xFF == 27: #ESC\u3067\u7d42\u4e86\n      break\ncap.release()\n<strong><mark style=\"background-color:#dd8e18\" class=\"has-inline-color\">ser.close()<\/mark><\/strong><\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"<p>\u3042\u3068\u306f\u6a19\u6e96\u51fa\u529b\u304b\u3089\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u306b\u51fa\u529b\u5148\u3092\u5909\u66f4\u3059\u308b\u3060\u3051\u3067\u3059\u3002Bluetooth\u63a5\u7d9a\u3055\u308c\u305f\u30dd\u30fc\u30c8\u756a\u53f7\u3092\u30d7\u30ed\u30b0\u30e9\u30e0\u5185\u306b\u8a18\u5165\u3057\u3066\u304f\u3060\u3055\u3044\u3002 import serialpre_angle_s = 0ser = serial.Se [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":247,"menu_order":16,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-347","page","type-page","status-publish","hentry","post-preview"],"_links":{"self":[{"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/pages\/347","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/comments?post=347"}],"version-history":[{"count":2,"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/pages\/347\/revisions"}],"predecessor-version":[{"id":351,"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/pages\/347\/revisions\/351"}],"up":[{"embeddable":true,"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/pages\/247"}],"wp:attachment":[{"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/media?parent=347"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}