手势识别rtos小车（2）----蓝牙通信

在pycharm下面安装pybluez库

本人：win11+python3.8+pybluez2

第一步，直接在pycharm终端运行

pip install pybluez

一般都会直接报错

第二步，下载安装win11的SDK文件，Windows SDK - Windows 应用开发 | Microsoft Developer

第三步，到pyblue官网，下载对应的版本

官方地址：GitHub - pybluez/pybluez: Bluetooth Python extension module

直接下载zip文件包，然后解压在自己的python解释器环境中，然后在pycharm终端打开进入到这个文件夹目录，执行

python setup.py install

但是会遇到报错

error: Microsoft Visual C++ 14.0 or greater is required. Get it with "Microsoft C++ Build Tools": https://visualstudio.microsoft.com/visual-cpp-build-tools/

这篇文章很好的解决了这个问题：Microsoft Visual C++ 14.0 or greater is required. Get it with "Microsoft C++ Build Tools"的解决办法 - 知乎

然后运行

env -list

就安装成功了

除此之外，我发现我安装之后，确实有了pybluez，但是无法找到库，我又安装了pybluez2【支持python3.x版本】,才可以

首先找到你蓝牙的地址，以及你的端口号

#!/usr/bin/env python
# --*--coding=utf-8--*--
# pip install pybluez

import time
from bluetooth import *

#列表，用于存放已搜索过的蓝牙名称
alreadyFound = []

#搜索蓝牙
def findDevs():
    foundDevs = discover_devices(lookup_names=True)
    # 循环遍历,如果在列表中存在的就不打印
    for (addr,name) in foundDevs:
        if addr not in alreadyFound:
            print("[*]蓝牙设备:" + str(name))
            print("[+]蓝牙MAC:" + str(addr))
            # 新增的设备mac地址定到列表中,用于循环搜索时过滤已打印的设备
            alreadyFound.append(addr)

# 循环执行,每5秒执行一次
while True:
    findDevs()
    time.sleep(1)

找到你的蓝牙地址和端口号，借助sock.connect连接在一起。

import bluetooth
import time
bd_addr = "00:20:04:00:DB:02" #蓝牙的地址
port = 13
sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
sock.connect((bd_addr, port))
sock.send('1')

完整代码：

sock.send ：是将信息发送到已连接的蓝牙设备上面，所以会直接将信息发送到蓝牙的串口上

# -*-coding:utf-8-*-

import cv2
import mediapipe as mp
import time
import math
import bluetooth
cap = cv2.VideoCapture(0)
# 该函数的参数
# static_image_mode,max_num_hands,min_detection_confidence,min_tracking_confidence
mpHands = mp.solutions.hands
hands = mpHands.Hands()
mpDraw = mp.solutions.drawing_utils
pTime = 0#开始时间初始化
cTime = 0#目前时间初始化
xs = []
ys = []
ks = []
bd_addr = "你的蓝牙地址"  # 蓝牙的地址
port = 13     # 端口号
sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
sock.connect((bd_addr, port))


# 发送信息到串口
def send_Serial(num):
    sock.send(str(num))
    sock.send('\r\n')
# 大小为21的数组初始化
for i in range(0,21):
    xs.append(0)
    ys.append(0)
for i in range(0,4):
    ks.append(0)
# 计算两点间的距离
def point_distance(x1, y1, x2, y2 ):
    dis = abs(math.sqrt((x2 - x1)*(x2 - x1)+(y2 - y1)*(y2 - y1)))
    return dis
def K_count():
    k=5
    i=0
    while(k<20):
        aveX1 = (xs[k] + xs[k+1] + xs[k+2] + xs[k+3]) / 4
        aveY1 = (ys[k] + ys[k+1] + ys[k+2] + ys[k+3]) / 4
        t = (xs[k] * xs[k] + xs[k+1] * xs[k+1] + xs[k+2] * xs[k+2] + xs[k+3] * xs[k+3] - 4 * aveX1 * aveX1)
        if(abs (t - 0) < 0.000001):
            t += 0.000001
        if aveX1 != 0 and aveY1 != 0:
            k1 = (xs[k] * ys[k] + xs[k+1] * ys[k+1] + xs[k+2] * ys[k+2] + xs[k+3] * ys[k+3] - 4 * aveX1 * aveY1) /t
        else:
            k1 = 0
        ks[i] = k1
        i += 1
        k += 4
    avek = sum(ks)/4
    #print(avek)
    ks0 = abs(ks[0] - avek)
    ks1 = abs(ks[1] - avek)
    ks2 = abs(ks[2] - avek)
    ks3 = abs(ks[3] - avek)
    #ks0 = (ks[0] - avek)
    #ks1 = (ks[1] - avek)
    #ks2 = (ks[2] - avek)
    #ks3 = (ks[3] - avek)
    print(ks[1])
    dis = point_distance(xs[4], ys[4], xs[8], ys[8])
    if (ks0+ks1+ks2+ks3) < 3.5 and dis > 100 and abs(ks[1]) > 3:
        print("前进")
        send_Serial(1)
    elif (ks0+ks1+ks2+ks3) < 3.5 and dis > 100 and -1 < ks[1] < 0:
        print("左转")
        send_Serial(2)
    elif (ks0 + ks1 + ks2 + ks3) < 3.5 and dis > 100 and 0 < ks[1] < 1:
        print("右转")
        send_Serial(3)
    elif dis < 100:
        print("停止")
    send_Serial(4)
while True:
    count = 0
    success, img = cap.read()#BGR存储格式
    imgRGB = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)#转为RGB存储
    #处理返回的手的标志点以及处理
    results = hands.process(imgRGB)
    if results.multi_hand_landmarks:#返回none或手的标志点坐标
        for handLms in results.multi_hand_landmarks:
            #id是索引，lm是x,y坐标
            for id, lm in enumerate(handLms.landmark):
                h, w, c = img.shape
                cx, cy = int(lm.x*w), int(lm.y*h)
               # print(id, cx, cy)
                xs[id] = cx
                ys[id] = cy
                cv2.circle(img, (cx, cy), 5, (0, 255, 105), cv2.FILLED)
                cv2.putText(img, str(int(id)), (cx, cy), cv2.FONT_HERSHEY_PLAIN, 2,
                (200, 20, 50), 3)
                K_count()
            mpDraw.draw_landmarks(img, handLms, mpHands.HAND_CONNECTIONS)
    cTime = time.time()
    fps = 1 / (cTime - pTime)
    pTime = cTime
    cv2.putText(img, str(int(fps)), (10, 70), cv2.FONT_HERSHEY_PLAIN, 3,
                (255, 0, 255), 1)
    cv2.imshow("Image", img)
    k = cv2.waitKey(1)
    if k == 27:
        cap.release()
        cv2.destroyAllWindows()
        exit()