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ROBOT CONTROLADO MEDIANTE VISION ARTIFICIAL USANDO MEDIAPIPE

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ROBOT CONTROLADO MEDIANTE VISION ARTIFICIAL USANDO MEDIAPIPE

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import cv2 #vision artificial

import time #tiempos

import math #matematica

import numpy as np #numpy vectores arreglos

import mediapipe as mp #mediapipe

import serial #pyserial comunicacion con arduino

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-CHASIS DE MADERA
-BATERIA DE 12V
-REGULADOR DE VOLTAJE
-ARDUINO UNO
-PUENTE H
-MODULO BLUETOOH ARDUINO HC-06
-4 MOTORES DC 12v
-4 LLANTAS PEQUEÑAS
-Cámara web

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import cv2

import mediapipe as mp

import math

from config import *

import telebot

import threading

import datetime

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import cv2

import mediapipe as mp

import numpy as np

import math

from config import *

import telebot

import threading

import datetime

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Human pose estimation from video plays a critical role in various applications such as quantifying physical exercises, sign language recognition, and full-body gesture control. For example, it can form the basis for yoga, dance, and fitness applications. It can also enable the overlay of digital content and information on top of the physical world in augmented reality.

MediaPipe Pose is a ML solution for high-fidelity body pose tracking, inferring 33 3D landmarks and background segmentation mask on the whole body from RGB video frames utilizing our BlazePose research that also powers the ML Kit Pose Detection API. Current state-of-the-art approaches rely primarily on powerful desktop environments for inference, whereas our method achieves real-time performance on most modern mobile phones, desktops/laptops, in python and even on the web.

The solution utilizes a two-step detector-tracker ML pipeline, proven to be effective in our MediaPipe Hands and MediaPipe Face Mesh solutions. Using a detector, the pipeline first locates the person/pose region-of-interest (ROI) within the frame. The tracker subsequently predicts the pose landmarks and segmentation mask within the ROI using the ROI-cropped frame as input. Note that for video use cases the detector is invoked only as needed, i.e., for the very first frame and when the tracker could no longer identify body pose presence in the previous frame. For other frames the pipeline simply derives the ROI from the previous frame's pose landmarks.

The pipeline is implemented as a MediaPipe graph that uses a pose landmark subgraph from the pose landmark module and renders using a dedicated pose renderer subgraph. The pose landmark subgraph internally uses a pose detection subgraph from the pose detection module.

Note: To visualize a graph, copy the graph and paste it into MediaPipe Visualizer. For more information on how to visualize its associated subgraphs, please see visualizer documentation.

To evaluate the quality of our models against other well-performing publicly available solutions, we use three different validation datasets, representing different verticals: Yoga, Dance and HIIT. Each image contains only a single person located 2-4 meters from the camera. To be consistent with other solutions, we perform evaluation only for 17 keypoints from COCO topology.

We designed our models specifically for live perception use cases, so all of them work in real-time on the majority of modern devices.

The detector is inspired by our own lightweight BlazeFace model, used in MediaPipe Face Detection, as a proxy for a person detector. It explicitly predicts two additional virtual keypoints that firmly describe the human body center, rotation and scale as a circle. Inspired by Leonardo's Vitruvian man, we predict the midpoint of a person's hips, the radius of a circle circumscribing the whole person, and the incline angle of the line connecting the shoulder and hip midpoints.

Pose Landmark Model (BlazePose GHUM 3D)

The landmark model in MediaPipe Pose predicts the location of 33 pose landmarks (see figure below).

Optionally, MediaPipe Pose can predicts a full-body segmentation mask represented as a two-class segmentation (human or background).

Please find more detail in the BlazePose Google AI Blog, this paper, the model card and the Output section below.

Naming style and availability may differ slightly across platforms/languages.

If set to false, the solution treats the input images as a video stream. It will try to detect the most prominent person in the very first images, and upon a successful detection further localizes the pose landmarks. In subsequent images, it then simply tracks those landmarks without invoking another detection until it loses track, on reducing computation and latency. If set to true, person detection runs every input image, ideal for processing a batch of static, possibly unrelated, images. Default to false.

Complexity of the pose landmark model: 0, 1 or 2. Landmark accuracy as well as inference latency generally go up with the model complexity. Default to 1.

If set to true, the solution filters pose landmarks across different input images to reduce jitter, but ignored if static_image_mode is also set to true. Default to true.

If set to true, in addition to the pose landmarks the solution also generates the segmentation mask. Default to false.

If set to true, the solution filters segmentation masks across different input images to reduce jitter. Ignored if enable_segmentation is false or static_image_mode is true. Default to true.

Minimum confidence value ([0.0, 1.0]) from the person-detection model for the detection to be considered successful. Default to 0.5.

Minimum confidence value ([0.0, 1.0]) from the landmark-tracking model for the pose landmarks to be considered tracked successfully, or otherwise person detection will be invoked automatically on the next input image. Setting it to a higher value can increase robustness of the solution, at the expense of a higher latency. Ignored if static_image_mode is true, where person detection simply runs on every image. Default to 0.5.

Naming style may differ slightly across platforms/languages.

A list of pose landmarks. Each landmark consists of the following:

x and y: Landmark coordinates normalized to [0.0, 1.0] by the image width and height respectively.

z: Represents the landmark depth with the depth at the midpoint of hips being the origin, and the smaller the value the closer the landmark is to the camera. The magnitude of z uses roughly the same scale as x.

visibility: A value in [0.0, 1.0] indicating the likelihood of the landmark being visible (present and not occluded) in the image.

Fig 5. Example of MediaPipe Pose real-world 3D coordinates.

Another list of pose landmarks in world coordinates. Each landmark consists of the following:

x, y and z: Real-world 3D coordinates in meters with the origin at the center between hips.

visibility: Identical to that defined in the corresponding pose_landmarks.

The output segmentation mask, predicted only when enable_segmentation is set to true. The mask has the same width and height as the input image, and contains values in [0.0, 1.0] where 1.0 and 0.0 indicate high certainty of a "human" and "background" pixel respectively. Please refer to the platform-specific usage examples below for usage details.

Fig 6. Example of MediaPipe Pose segmentation mask.

Please first follow general instructions to install MediaPipe Python package, then learn more in the companion Python Colab and the usage example below.

Supported configuration options:

Please first see general introduction on MediaPipe in JavaScript, then learn more in the companion web demo and the following usage example.

Supported configuration options:

Please first see general instructions for Android, iOS, and desktop on how to build MediaPipe examples.

Note: To visualize a graph, copy the graph and paste it into MediaPipe Visualizer. For more information on how to visualize its associated subgraphs, please see visualizer documentation.

Please first see general instructions for desktop on how to build MediaPipe examples.

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Human pose estimation from video plays a critical role in various applications such as quantifying physical exercises, sign language recognition, and full-body gesture control. For example, it can form the basis for yoga, dance, and fitness applications. It can also enable the overlay of digital content and information on top of the physical world in augmented reality.

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Contribute to nicknochnack/MediaPipePoseEstimation development by creating an account on GitHub.

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Seguimos los pasos de ejercicios anteriores para poder obtener:
- Token
- ChatID