def ManageMotion():
motion = Motion()
while motion.IsActive():
ManageCommands(motion)
# Manage motion and gestures
motion.GetInformationOnNextFrame()
if motion.TimeElapsedSinceLastMotion(
) > config['timeToWaitWhenNoMovementBeforeSleep']:
time.sleep(config['timeToSleepWhenNoMovement'])
gesture = motion.GetGesture()
threading.Thread(target=SendGesture, args=(gesture, )).start()
motion.Dispose()
def ManageMotion():
motion = Motion()
# Params to change on the fly
cv2.namedWindow('paramMinMaxPalm')
cv2.createTrackbar('MAX H', 'paramMinMaxPalm', 1, 255, nothing)
cv2.createTrackbar('MAX S', 'paramMinMaxPalm', 1, 255, nothing)
cv2.createTrackbar('MAX V', 'paramMinMaxPalm', 1, 255, nothing)
cv2.createTrackbar('MIN H', 'paramMinMaxPalm', 1, 255, nothing)
cv2.createTrackbar('MIN S', 'paramMinMaxPalm', 1, 255, nothing)
cv2.createTrackbar('MIN V', 'paramMinMaxPalm', 1, 255, nothing)
cv2.setTrackbarPos('MAX H', 'paramMinMaxPalm',
config['hand']['hsv_palm_max'][0])
cv2.setTrackbarPos('MAX S', 'paramMinMaxPalm',
config['hand']['hsv_palm_max'][1])
cv2.setTrackbarPos('MAX V', 'paramMinMaxPalm',
config['hand']['hsv_palm_max'][2])
cv2.setTrackbarPos('MIN H', 'paramMinMaxPalm',
config['hand']['hsv_palm_min'][0])
cv2.setTrackbarPos('MIN S', 'paramMinMaxPalm',
config['hand']['hsv_palm_min'][1])
cv2.setTrackbarPos('MIN V', 'paramMinMaxPalm',
config['hand']['hsv_palm_min'][2])
cv2.namedWindow('paramSearchRangeHand')
cv2.createTrackbar('INC H', 'paramSearchRangeHand', 1, 255, nothing)
cv2.createTrackbar('INC S', 'paramSearchRangeHand', 1, 255, nothing)
cv2.createTrackbar('INC V', 'paramSearchRangeHand', 1, 255, nothing)
cv2.createTrackbar('DEC H', 'paramSearchRangeHand', 1, 255, nothing)
cv2.createTrackbar('DEC S', 'paramSearchRangeHand', 1, 255, nothing)
cv2.createTrackbar('DEC V', 'paramSearchRangeHand', 1, 255, nothing)
cv2.setTrackbarPos('INC H', 'paramSearchRangeHand',
config['hand']['hsv_hand_inc'][0])
cv2.setTrackbarPos('INC S', 'paramSearchRangeHand',
config['hand']['hsv_hand_inc'][1])
cv2.setTrackbarPos('INC V', 'paramSearchRangeHand',
config['hand']['hsv_hand_inc'][2])
cv2.setTrackbarPos('DEC H', 'paramSearchRangeHand',
config['hand']['hsv_hand_dec'][0])
cv2.setTrackbarPos('DEC S', 'paramSearchRangeHand',
config['hand']['hsv_hand_dec'][1])
cv2.setTrackbarPos('DEC V', 'paramSearchRangeHand',
config['hand']['hsv_hand_dec'][2])
frameIdx = 0
currentSliding = "None"
timeElapsedSinceLastSlide = time.time()
if not motion.IsActive():
print("No camera found")
# Debug Palm Tracking (See palm color detection in real time - consuming)
motion.debugPalm = False
while motion.IsActive():
# Refresh OpenCV Windows
cv2.waitKey(1)
main.ManageCommands(motion)
# Refresh config from param
config['hand']['hsv_palm_max'] = [
cv2.getTrackbarPos('MAX H', 'paramMinMaxPalm'),
cv2.getTrackbarPos('MAX S', 'paramMinMaxPalm'),
cv2.getTrackbarPos('MAX V', 'paramMinMaxPalm')
]
config['hand']['hsv_palm_min'] = [
cv2.getTrackbarPos('MIN H', 'paramMinMaxPalm'),
cv2.getTrackbarPos('MIN S', 'paramMinMaxPalm'),
cv2.getTrackbarPos('MIN V', 'paramMinMaxPalm')
]
config['hand']['hsv_hand_inc'] = [
cv2.getTrackbarPos('INC H', 'paramSearchRangeHand'),
cv2.getTrackbarPos('INC S', 'paramSearchRangeHand'),
cv2.getTrackbarPos('INC V', 'paramSearchRangeHand')
]
config['hand']['hsv_hand_dec'] = [
cv2.getTrackbarPos('DEC H', 'paramSearchRangeHand'),
cv2.getTrackbarPos('DEC S', 'paramSearchRangeHand'),
cv2.getTrackbarPos('DEC V', 'paramSearchRangeHand')
]
# Manage motion and gestures
motion.GetInformationOnNextFrame()
# Infos movement
try:
cv2.putText(
motion.frameDifference,
"Elapsed: " + str(motion.TimeElapsedSinceLastMotion()) + "/" +
str(config['timeToWaitWhenNoMovementBeforeSleep']), (5, 50),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2)
cv2.putText(
motion.frameDifference,
"Movement: " + str(motion.movementRatio) + "/" +
str(config['frameDifferenceRatioForMovement']), (5, 100),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2)
cv2.imshow('Movement detected', motion.frameDifference)
except:
pass
if motion.TimeElapsedSinceLastMotion(
) > config['timeToWaitWhenNoMovementBeforeSleep']:
cv2.putText(motion.currentFrame, "SLEEP MODE NO MOVEMENT",
(5, 150), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255),
2)
cv2.imshow('Current Frame', motion.currentFrame)
time.sleep(config['timeToSleepWhenNoMovement'])
gesture = motion.GetGesture()
if gesture.properties['palm']:
print("PALM")
threading.Thread(target=main.SendGesture, args=(gesture, )).start()
# Gesture infos
try:
#print("Frame: " + str(frameIdx))
frameIdx += 1
#print(gesture.properties)
if motion.handTracked is None:
cv2.putText(motion.currentFrame, "Seach Palm", (5, 200),
cv2.FONT_HERSHEY_SIMPLEX, 1, 200, 1)
cv2.imshow('Current Frame', motion.currentFrame)
cv2.imshow('Mask from HSV Range', motion.mask_rafined)
cv2.putText(motion.currentFrame, "Width: " + str(gesture.recW),
(5, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, 200, 1)
cv2.putText(motion.currentFrame, "Height: " + str(gesture.recH),
(5, 250), cv2.FONT_HERSHEY_SIMPLEX, 1, 200, 1)
cv2.putText(motion.currentFrame,
"SRatio: " + str(gesture.recH / gesture.recW),
(5, 150), cv2.FONT_HERSHEY_SIMPLEX, 1, 200, 1)
cv2.rectangle(
motion.currentFrame, (gesture.recX, gesture.recY),
(gesture.recX + gesture.recW, gesture.recY + gesture.recH),
(0, 255, 0), 2)
cv2.putText(motion.currentFrame,
"MSize: " + str(gesture.moments['m00']), (5, 100),
cv2.FONT_HERSHEY_SIMPLEX, 1, 200, 1)
cv2.drawContours(motion.currentFrame, [gesture.handContour], 0,
(0, 255, 0), 3)
cv2.circle(motion.currentFrame,
(int(gesture.centerX), int(gesture.centerY)),
int(gesture.radius / 1.5), [255, 0, 255], 1)
cv2.circle(motion.currentFrame,
(int(gesture.centerX), int(gesture.centerY)),
int(gesture.radius / 3.2), [255, 0, 255], 1)
cv2.putText(motion.currentFrame,
"A: " + str(gesture.properties['angle']), (5, 50),
cv2.FONT_HERSHEY_SIMPLEX, 1, 200)
if gesture.properties['palm']:
cv2.putText(motion.currentFrame, "PALM", (5, 400),
cv2.FONT_HERSHEY_SIMPLEX, 2, 150, 3)
elif gesture.properties['thumbsUp']:
cv2.putText(motion.currentFrame, "THUMBS UP", (5, 400),
cv2.FONT_HERSHEY_SIMPLEX, 2, 150, 3)
elif gesture.properties['thumbsDown']:
cv2.putText(motion.currentFrame, "THUMBS DOWN", (5, 400),
cv2.FONT_HERSHEY_SIMPLEX, 2, 150, 3)
if gesture.properties['slideUp'] or gesture.properties[
'slideDown'] or gesture.properties[
'slideRight'] or gesture.properties['slideLeft']:
timeElapsedSinceLastSlide = time.time()
currentSliding = "UP" if gesture.properties[
'slideUp'] else "DOWN" if gesture.properties[
'slideDown'] else "RIGHT" if gesture.properties[
'slideRight'] else "LEFT"
if time.time() - timeElapsedSinceLastSlide < 1:
cv2.putText(motion.currentFrame, "Sliding " + currentSliding,
(5, 450), cv2.FONT_HERSHEY_SIMPLEX, 2, 150, 3)
for defect in gesture.palmDefects:
cv2.line(motion.currentFrame, defect[0], defect[1],
[255, 0, 0], 2)
cv2.circle(motion.currentFrame, defect[2], 6, [0, 0, 255], -1)
cv2.imshow('Current Frame', motion.currentFrame)
except:
pass
pressedKey = cv2.waitKey(33)
if pressedKey == 27: # Esc key to stop
break
motion.Dispose()
os._exit(1)
