Trajectory for Data collect RoboBrain 1.0 -- BRIN

Getting started

This project uses Python and requires several dependencies. It is highly recommended to use a virtual environment (venv) to manage these dependencies.

0. Initial setup on a new PC

If you are setting up this project on a brand‑new PC, follow the dedicated setup guide first:

• See README_SETUP.md

Continue with the rest of this README after completing the steps in README_SETUP.md.

1. Clone this repo:

Using bash or other terminal

git clone https://github.com/yosuahres/trajectory_development.git && cd trajectory_development  

2. Create and Activate a Virtual Environment

First, create a virtual environment in the project directory:

python3 -m venv venv

Then, activate the virtual environment:

• On macOS/Linux:

  source venv/bin/activate

• On Windows:

  .\venv\Scripts\activate

3. Install Dependencies

Once the virtual environment is activated, install the required packages using pip:

pip install -r requirements.txt

3. Modify !CHANGETHIS (Optional)

!CHANGETHIS is a comment you need to look up and adjust it based on your need.

4. Run the Script

After installing dependencies and making any necessary modifications, you can run the main script:

python3 main.py

This will start the hand tracking process and display the visualization. The following options are available:

• 1. Real time camera: Process hand tracking using your desired webcam in real-time.
• 2. Process video file: Process hand tracking from a specified video file path declared in main.py.
• 3. Configure back of hand settings: Adjust settings related to back-of-hand detection.
• 4. Configure video sampling interval (for option 2): Set the sampling interval for video processing when using option 2.
• 5. Exit: Terminate the program.

5. Troubleshooting

Here are some common issues you might encounter and how to resolve them:

• ModuleNotFoundError or other dependency issues:
  • Ensure you have activated your virtual environment (venv).
  • Make sure all dependencies are installed by running pip install -r requirements.txt within your activated virtual environment.
• Camera not detected or accessible:
  • Check if your webcam is properly connected and not being used by another application.
  • Verify that your operating system grants Python (or your terminal application) permission to access the camera.
  • If using a specific camera, ensure it's correctly configured in main.py if applicable.
• Poor hand tracking performance or accuracy:
  • Ensure good lighting conditions. Mediapipe's hand tracking can be sensitive to poor lighting.
  • Keep your hand within a reasonable distance from the camera. Too close or too far can reduce accuracy.
  • Avoid cluttered backgrounds if possible, although the system is designed to be robust to them.
  • Check the camera's resolution and frame rate. Higher quality input generally leads to better tracking.
• Incorrect Roll, Pitch, Yaw values:
  • Be aware that camera mirroring can affect the perceived orientation. Adjust your interpretation or camera settings accordingly.
  • Ensure your hand is positioned consistently relative to the camera.

6. Commit message

This project uses the conventional commit specification for better readability and clarity. It is mandatory to use conventional commit messages. Read more about conventional commits here.

7. To do:

• Handle calibration for zeroing initial hand position

⁉️ author?

Author: Yosua Hares.
Email: haresyosuaa[at]gmail.com