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Steering.py
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import time
import math
import cv2
import mediapipe as mp
import ctypes
keys = {'w': 0x11, 'a': 0x1E, 's': 0x1F, 'd': 0x20}
mp_drawing = mp.solutions.drawing_utils
mp_drawing_styles = mp.solutions.drawing_styles
mp_hands = mp.solutions.hands
font = cv2.FONT_HERSHEY_SIMPLEX
bkwrds = 0
PUL = ctypes.POINTER(ctypes.c_ulong)
swap_triggered = {'left': False, 'right': False}
class KeyBdInput(ctypes.Structure):
_fields_ = [
("wVk", ctypes.c_ushort),
("wScan", ctypes.c_ushort),
("dwFlags", ctypes.c_ulong),
("time", ctypes.c_ulong),
("dwExtraInfo", PUL),
]
class HardwareInput(ctypes.Structure):
_fields_ = [
("uMsg", ctypes.c_ulong),
("wParamL", ctypes.c_short),
("wParamH", ctypes.c_ushort),
]
class MouseInput(ctypes.Structure):
_fields_ = [
("dx", ctypes.c_long),
("dy", ctypes.c_long),
("mouseData", ctypes.c_ulong),
("dwFlags", ctypes.c_ulong),
("time", ctypes.c_ulong),
("dwExtraInfo", PUL),
]
class Input_I(ctypes.Union):
_fields_ = [("ki", KeyBdInput), ("mi", MouseInput), ("hi", HardwareInput)]
class Input(ctypes.Structure):
_fields_ = [("type", ctypes.c_ulong), ("ii", Input_I)]
def press_key(key):
extra = ctypes.c_ulong(0)
ii_ = Input_I()
ii_.ki = KeyBdInput(0, keys[key], 0x0008, 0, ctypes.pointer(extra))
x = Input(ctypes.c_ulong(1), ii_)
ctypes.windll.user32.SendInput(1, ctypes.pointer(x), ctypes.sizeof(x))
def release_key(key):
extra = ctypes.c_ulong(0)
ii_ = Input_I()
ii_.ki = KeyBdInput(0, keys[key], 0x0008 | 0x0002, 0, ctypes.pointer(extra))
x = Input(ctypes.c_ulong(1), ii_)
ctypes.windll.user32.SendInput(1, ctypes.pointer(x), ctypes.sizeof(x))
# Initialize the video capture outside the loop to avoid reopening it every iteration
cap = cv2.VideoCapture(0) # Change based on your Camera
hands_detected = False
last_swap_time = time.time()
with mp_hands.Hands(
model_complexity=0,
min_detection_confidence=0.7,
min_tracking_confidence=0.7) as hands:
try:
swap_delay = 0.5 # Increase swap delay for smoother control
sensitivity_factor = 1 # Adjust this factor for sensitivity control 0.1 to 2 --- Degree of angle / sensitivity_factor
degrees_offset = 0 #Adjust this offset for angle offset negative or positive
while cap.isOpened():
current_time = time.time()
elapsed_time_since_last_swap = current_time - last_swap_time
success, image = cap.read()
if not success:
print("Error reading frame. Exiting...")
break
# Convert the image to RGB and process hands
image.flags.writeable = False
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
results = hands.process(image)
imageHeight, imageWidth, _ = image.shape
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
co = []
if results.multi_hand_landmarks:
hands_detected = True
for i, hand_landmarks in enumerate(results.multi_hand_landmarks):
mp_drawing.draw_landmarks(
image,
hand_landmarks,
mp_hands.HAND_CONNECTIONS,
mp_drawing_styles.get_default_hand_landmarks_style(),
mp_drawing_styles.get_default_hand_connections_style())
for point in mp_hands.HandLandmark:
if str(point) == "HandLandmark.WRIST":
normalizedLandmark = hand_landmarks.landmark[point]
pixelCoordinatesLandmark = mp_drawing._normalized_to_pixel_coordinates(
normalizedLandmark.x,
normalizedLandmark.y,
imageWidth, imageHeight)
try:
co.append((i, list(pixelCoordinatesLandmark)))
except:
continue
else:
hands_detected = False
if hands_detected:
if len(co) == 2:
xm, ym = (co[0][1][0] + co[1][1][0]) / 2, (co[0][1][1] + co[1][1][1]) / 2
radius = 150
try:
if co[1][1][0] - co[0][1][0] != 0:
m = (co[1][1][1] - co[0][1][1]) / (co[1][1][0] - co[0][1][0])
else:
# Avoid division by zero
continue
except ZeroDivisionError:
# Avoid division by zero
continue
a = 1 + m ** 2
b = -2 * xm - 2 * co[0][1][0] * (m ** 2) + 2 * m * co[0][1][1] - 2 * m * ym
c = xm ** 2 + (m ** 2) * (co[0][1][0] ** 2) + co[0][1][1] ** 2 + ym ** 2 - 2 * co[0][1][1] * ym - 2 * co[0][1][1] * \
co[0][1][0] * m + 2 * m * ym * co[0][1][0] - 22500
xa = (-b + (b ** 2 - 4 * a * c) ** 0.5) / (2 * a)
xb = (-b - (b ** 2 - 4 * a * c) ** 0.5) / (2 * a)
ya = m * (xa - co[0][1][0]) + co[0][1][1]
yb = m * (xb - co[0][1][0]) + co[0][1][1]
if m != 0:
ap = 1 + ((-1 / m) ** 2)
bp = -2 * xm - 2 * xm * ((-1 / m) ** 2) + 2 * (-1 / m) * ym - 2 * (-1 / m) * ym
cp = xm ** 2 + ((-1 / m) ** 2) * (xm ** 2) + ym ** 2 + ym ** 2 - 2 * ym * ym - 2 * ym * xm * (
-1 / m) + 2 * (-1 / m) * ym * xm - 22500
try:
xap = (-bp + (bp ** 2 - 4 * ap * cp) ** 0.5) / (2 * ap)
xbp = (-bp - (bp ** 2 - 4 * ap * cp) ** 0.5) / (2 * ap)
yap = (-1 / m) * (xap - xm) + ym
ybp = (-1 / m) * (xbp - xm) + ym
except:
continue
cv2.circle(img=image, center=(int(xm), int(ym)), radius=radius, color=(195, 255, 62), thickness=15)
l = (int(math.sqrt((co[0][1][0] - co[1][1][0]) ** 2 * (co[0][1][1] - co[1][1][1]) ** 2)) - 150) // 2
cv2.line(image, (int(xa), int(ya)), (int(xb), int(yb)), (195, 255, 62), 20)
# Calculate angle in degrees
angle_rad = math.atan2(co[1][1][1] - co[0][1][1], co[1][1][0] - co[0][1][0])
angle_deg = math.degrees(angle_rad) + degrees_offset # Add offset
# Steering logic based on the adjusted angle
angle_rad = math.atan2(co[0][1][1] - co[1][1][1], co[0][1][0] - co[1][1][0])
angle_deg = math.degrees(angle_rad) + degrees_offset # Add offset
# Adjust sensitivity
adjusted_sensitivity = angle_deg * sensitivity_factor
if bkwrds == 0:
if -15 <= adjusted_sensitivity <= 15:
print("Straight")
press_key('w')
release_key('a')
release_key('d')
release_key('s')
if -30 <= adjusted_sensitivity <= -15:
print("WWWD")
press_key('w')
release_key('w')
press_key('w')
release_key('w')
press_key('w')
release_key('w')
press_key('d')
release_key('d')
release_key('a')
release_key('s')
if -45 <= adjusted_sensitivity <= -30:
print("WWD")
press_key('w')
release_key('w')
press_key('w')
release_key('w')
press_key('d')
release_key('d')
release_key('a')
release_key('s')
elif -60 <= adjusted_sensitivity < -45:
print("Middle right")
press_key('w')
press_key('d')
release_key('a')
release_key('s')
if -75 <= adjusted_sensitivity <= -60:
print("WDD")
press_key('w')
release_key('w')
press_key('d')
release_key('d')
press_key('d')
release_key('d')
release_key('a')
release_key('s')
elif -90 <= adjusted_sensitivity < -75: # RIGHT STOPS
print("D")
press_key('d')
release_key('w')
release_key('a')
release_key('s')
if 15 <= adjusted_sensitivity <= 30:
print("WWWA")
press_key('w')
release_key('w')
press_key('w')
release_key('w')
press_key('w')
release_key('w')
press_key('a')
release_key('a')
release_key('d')
release_key('s')
if 30 <= adjusted_sensitivity <= 45:
print("WWA")
press_key('w')
release_key('w')
press_key('w')
release_key('w')
press_key('a')
release_key('a')
release_key('d')
release_key('s')
elif 45 <= adjusted_sensitivity < 60:
print("WA")
press_key('w')
press_key('a')
release_key('d')
release_key('s')
if 60 <= adjusted_sensitivity <= 75:
print("WAA")
press_key('w')
release_key('w')
press_key('a')
release_key('a')
press_key('a')
release_key('a')
release_key('d')
release_key('s')
elif 75 <= adjusted_sensitivity < 90: # RIGHT STOPS
print("A")
press_key('a')
release_key('w')
release_key('d')
release_key('s')
elif bkwrds == 1:
if -15 <= adjusted_sensitivity <= 15:
print("S")
press_key('s')
release_key('a')
release_key('d')
release_key('w')
if -30 <= adjusted_sensitivity <= -15:
print("SSSA")
press_key('s')
release_key('s')
press_key('s')
release_key('s')
press_key('s')
release_key('s')
press_key('a')
release_key('a')
release_key('d')
release_key('s')
if -45 <= adjusted_sensitivity <= -30:
print("SSA")
press_key('s')
release_key('s')
press_key('s')
release_key('s')
press_key('a')
release_key('a')
release_key('d')
release_key('w')
elif -60 <= adjusted_sensitivity < -45:
print("SA")
press_key('s')
press_key('a')
release_key('d')
release_key('w')
if -75 <= adjusted_sensitivity <= -60:
print("SAA")
press_key('s')
release_key('s')
press_key('a')
release_key('a')
press_key('a')
release_key('a')
release_key('d')
release_key('w')
elif -90 <= adjusted_sensitivity < -75: # RIGHT STOPS
print("A")
press_key('a')
release_key('w')
release_key('a')
release_key('s')
if 15 <= adjusted_sensitivity <= 30:
print("SSSA")
press_key('s')
release_key('s')
press_key('s')
release_key('s')
press_key('s')
release_key('s')
press_key('a')
release_key('a')
release_key('d')
release_key('w')
if 30 <= adjusted_sensitivity <= 45:
print("SSA")
press_key('s')
release_key('s')
press_key('s')
release_key('s')
press_key('a')
release_key('a')
release_key('d')
release_key('w')
elif 45 <= adjusted_sensitivity < 60:
print("SA")
press_key('s')
press_key('a')
release_key('d')
release_key('w')
if 60 <= adjusted_sensitivity <= 75:
print("SAA")
press_key('s')
release_key('s')
press_key('a')
release_key('a')
press_key('a')
release_key('a')
release_key('d')
release_key('s')
elif 75 <= adjusted_sensitivity < 90: # RIGHT STOPS
print("A")
press_key('a')
release_key('w')
release_key('a')
release_key('s')
swap_triggered['left'] = True
swap_triggered['right'] = True
# Update the time of the last swap
last_swap_time = time.time()
elif len(co) == 1:
hand_idx, _ = co[0]
if not swap_triggered['left'] and not swap_triggered['right']:
if elapsed_time_since_last_swap >= swap_delay:
print("Swapped direction!")
bkwrds = 1 if bkwrds == 0 else 0
release_key('a')
release_key('d')
release_key('w')
release_key('s')
swap_triggered['left'] = True if hand_idx == 0 else False
swap_triggered['right'] = True if hand_idx == 1 else False
else:
# No hands detected, release all keys
release_key('a')
release_key('d')
release_key('w')
release_key('s')
swap_triggered['left'] = False
swap_triggered['right'] = False
cv2.imshow('Steering', cv2.flip(image, 1))
if cv2.waitKey(5) & 0xFF == ord('q'):
break
except KeyboardInterrupt:
print("Program terminated by user.")
finally:
# Release the video capture at the end
cap.release()
cv2.destroyAllWindows()