A ROS2 Node for DFRobot AI Gesture and Face Detection Sensor

Based on DFRobot Python code

Product Link: https://www.dfrobot.com/product-2914.html

On a Raspberry Pi with the sensor connected to I2C:

Get code (you may want to use ~/robot_ws/src here):

mkdir -p ~/gesture_ws/src
cd ~/gesture_ws/src
git clone https://github.com/slgrobotics/face_gesture_sensor.git

Install dependencies:

sudo rosdep init    # do it once, if you haven't done it before
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -r -y

Build it:

cd ~/gesture_ws
colcon build

Run the node:

ros2 run face_gesture_sensor fgs_node

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Useful links and notes

Product:

• https://www.dfrobot.com/product-2914.html
• https://www.amazon.com/dp/B0F6C91FCY

Wiki:

• https://wiki.dfrobot.com/SKU_SEN0626_Gesture_and_Face_Detection_Module

Arduino library:

• https://github.com/DFRobot/DFRobot_GestureFaceDetection <- installs with Arduino IDE Manager, with RTU
• https://github.com/DFRobot/DFRobot_RTU

Playing with Python samples

mkdir ~/gesture
cd ~/gesture
git clone https://github.com/DFRobot/DFRobot_GestureFaceDetection.git
cd DFRobot_GestureFaceDetection
cd python/raspberrypi/examples
sudo apt install python3-smbus2

python3 get_pid_vid.py 
       FileNotFoundError: [Errno 2] No such file or directory: '/dev/ttyAMA0'
  (edited get_pid_vid.py - set USE_I2C = True)
python3 get_pid_vid.py  
When I moved in camera view, it printed and exited:
  PID: 626
  VID: 13123
  
After similarly editing,  
python3 detect_gesture.py 
face detection threshold: 60
gesture detection threshold: 60
gesture detection range: 100
Detect face at (x = 186, y = 380, score = 74)
Detect gesture 0, score = 0
...
Detect gesture 3, score = 93
Detect face at (x = 179, y = 383, score = 68)
...
Detect gesture 1, score = 85
Detect face at (x = 212, y = 365, score = 83)

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