#include <Servo.h>\n#include \"BluetoothSerial.h\"\nBluetoothSerial SerialBT;\/\/make a BlueTooth object\nServo myservo; \nString data=\"\";\nchar tmp;\n\nvoid setup() {\n myservo.attach(12); \n SerialBT.begin(\"ICC-ESP\");\/\/name an arbitrary strings.\n}\n\nvoid loop() {\n while(SerialBT.available()){\n tmp=(char)SerialBT.read();\n data+=tmp;\n if(tmp == '\\n'){\n myservo.write(data.toInt());\n delay(10);\n data =\"\";\n }\n }\n}<\/code><\/pre>\n\n\n\nUpload this sample to the ESP32 and run.<\/p>\n\n\n\n
Try to find the Bluetooth name (in this case, “ICC-ESP.” But please name another one because all participants should name different one.), and connect it. You can find new COM as a BT-Serial.<\/p>\n\n\n\n
Send some number as string via the BT-COM.<\/p>\n\n\n\n
Try to make a Mediapipe code<\/h2>\n\n\n\n Make a new python file(arbitrary_name.py) and open it by notepad, copy the source below, paste it.<\/p>\n\n\n\n
import cv2\nimport math\nimport mediapipe as mp\n\nmp_drawing = mp.solutions.drawing_utils\nmp_drawing_styles = mp.solutions.drawing_styles\nmp_pose = mp.solutions.pose\npre_angle_s = 0 #Previous Angle of Shoulder\n\ncap = cv2.VideoCapture(0)\nwith mp_pose.Pose(min_detection_confidence=0.5, 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 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(image, results.pose_landmarks, mp_pose.POSE_CONNECTIONS,landmark_drawing_spec=mp_drawing_styles.get_default_pose_landmarks_style())\n if results.pose_landmarks:\n x1=results.pose_landmarks.landmark[12].x #x1,y1 = shoulder\n x2=results.pose_landmarks.landmark[14].x #x2,y2 = elbow\n y1=results.pose_landmarks.landmark[12].y\n y2=results.pose_landmarks.landmark[14].y\n \n if x2<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 < 0:\n angle_s = 0\n elif angle_s > 180:\n angle_s = 180\n\n print(\"\\r\"+str(angle_s))\n\n cv2.imshow('ICC23-WS', cv2.flip(image, 1))\n if cv2.waitKey(5) & 0xFF == 27: #press ESC to exit\n break\ncap.release()<\/code><\/pre>\n\n\n\nInsert codes concerns to BlueTooth Serial.<\/p>\n\n\n\n
import cv2\nimport math\nimport mediapipe as mp\nimport serial<\/strong><\/mark>\n\nmp_drawing = mp.solutions.drawing_utils\nmp_drawing_styles = mp.solutions.drawing_styles\nmp_pose = mp.solutions.pose\npre_angle_s = 0\nser = serial.Serial('COM5', 115200)<\/mark><\/strong>#change the COM number to your device.\n\ncap = cv2.VideoCapture(0)\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[12].x #x1,y1 = shoulder\n x2=results.pose_landmarks.landmark[14].x #x2,y2 = elbow\n y1=results.pose_landmarks.landmark[12].y\n y2=results.pose_landmarks.landmark[14].y\n \n if x2<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 < 0:\n angle_s = 0\n elif angle_s > 180:\n angle_s = 180\n\n #print(\"\\r\"+str(angle_s))\n\n #Send the angle string via Bluetooth\n <\/mark> if abs(angle_s-pre_angle_s)>5:\n ser.write(str.encode(str(angle_s)+\"\\n\"))\n pre_angle_s = angle_s<\/mark>\n<\/strong>\n\n cv2.imshow('ICC23-WS', cv2.flip(image, 1))\n if cv2.waitKey(5) & 0xFF == 27:\n break\ncap.release()\nser.close()<\/mark><\/strong>#close Serial port.<\/code><\/pre>\n\n\n\nLandmarks info<\/h2>\n\n\n\n Landmarks info is shown in the next figure.<\/p>\n\n\n\n
to change the measured positions, just change the number of arrays. For example, if you want to measure the angle of your left elbow, change the number of the arrays as below:<\/p>\n\n\n\n
x1=results.pose_landmarks.landmark[13].x x2=results.pose_landmarks.landmark[15].x y1=results.pose_landmarks.landmark[13].y y2=results.pose_landmarks.landmark[15].y<\/code><\/pre>\n\n\n\nGoal To build a wireless device with servo-motor and ESP32, make a software to controll the servo by your moti […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":45,"menu_order":20,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-575","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\/575","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=575"}],"version-history":[{"count":10,"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/pages\/575\/revisions"}],"predecessor-version":[{"id":606,"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/pages\/575\/revisions\/606"}],"up":[{"embeddable":true,"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/pages\/45"}],"wp:attachment":[{"href":"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-json\/wp\/v2\/media?parent=575"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
![\"ESP32,](\"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-content\/uploads\/2023\/07\/image-25.png\")
<\/figure>\n\n\n\n![\"Arduino](\"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-content\/uploads\/2023\/06\/Arduino-board01-1024x643.jpg\")
<\/figure>\n\n\n\n![\"Arduino](\"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-content\/uploads\/2023\/06\/Arduino-board02-1-1024x882.jpg\")
<\/figure>\n\n\n\n![\"after](\"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-content\/uploads\/2023\/07\/\u63a5\u7d9a.jpg\")
<\/figure>\n\n\n\n![\"points](\"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-content\/uploads\/2023\/07\/\u30d4\u30f3.jpg\")
<\/figure>\n\n\n\n![\"\"](\"https:\/\/www.cs.k.tsukuba-tech.ac.jp\/labo\/koba\/wp-content\/uploads\/2023\/08\/landmarks.png\")
<\/figure>\n","protected":false},"excerpt":{"rendered":"