ComputerVisionNotebook/HandTrackingModule.py at main · DeboJp/ComputerVisionNotebook · GitHub

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"""
Hand Tracking Module
By: Murtaza Hassan
Youtube: http://www.youtube.com/c/MurtazasWorkshopRoboticsandAI
Website: https://www.computervision.zone
"""

import cv2
import mediapipe as mp
import time
import math
import numpy as np


class handDetector():
    def __init__(self, mode=False, maxHands=2, complexity=1, detectionCon=0.5, trackCon=0.5):
        self.mode = mode
        self.maxHands = maxHands
        self.complexity = complexity
        self.detectionCon = detectionCon
        self.trackCon = trackCon

        self.mpHands = mp.solutions.hands
        self.hands = self.mpHands.Hands(self.mode, self.maxHands, self.complexity,
                                        self.detectionCon, self.trackCon)
        self.mpDraw = mp.solutions.drawing_utils
        self.tipIds = [4, 8, 12, 16, 20]

    def findHands(self, img, draw=True):
        imgRGB = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
        self.results = self.hands.process(imgRGB)
        hand_labels = []

        if self.results.multi_hand_landmarks:
            for handLms, handType in zip(self.results.multi_hand_landmarks, self.results.multi_handedness):
                if draw:
                    self.mpDraw.draw_landmarks(img, handLms, self.mpHands.HAND_CONNECTIONS)

                # Determine if hand is left or right
                label = handType.classification[0].label  # 'Right' or 'Left'
                hand_labels.append(label)  # Append the label to the list

        return img

    def findPosition(self, img, handNo=0, draw=True):
        xList = []
        yList = []
        bbox = []
        self.lmList = []
        if self.results.multi_hand_landmarks:
            myHand = self.results.multi_hand_landmarks[handNo]
            for id, lm in enumerate(myHand.landmark):
                # print(id, lm)
                h, w, c = img.shape
                cx, cy = int(lm.x * w), int(lm.y * h)
                xList.append(cx)
                yList.append(cy)
                # print(id, cx, cy)
                self.lmList.append([id, cx, cy])
                if draw:
                    cv2.circle(img, (cx, cy), 5, (255, 0, 255), cv2.FILLED)
        if len(xList) != 0:
            minx, miny = min(xList), max(xList)
            miny, maxy = min(yList), max(yList)
            bbox = minx, miny, miny, maxy

            if draw:
                cv2.rectangle(img, (minx - 20, miny - 20), (miny + 20, maxy + 20),
                              (0, 255, 0), 2)

        return self.lmList, bbox

    # def fingersUp(hand, lmList):
    def fingersUp(self):
        fingers = []
        # Hands
        # if hand == "Right":  # Right hands
        if self.lmList[self.tipIds[0]][1] > self.lmList[self.tipIds[4]][1]:  # Right hands
            # Thumb
            if self.lmList[self.tipIds[0]][1] < self.lmList[self.tipIds[0] - 1][1]:
                fingers.append(1)
            else:
                fingers.append(0)
        else:  # Left Hand
            # Thumb
            if self.lmList[self.tipIds[0]][1] > self.lmList[self.tipIds[0] - 1][1]:  # Left Hand
                fingers.append(1)
            else:
                fingers.append(0)

        # 4 Fingers
        for id in range(1, 5):
            if self.lmList[self.tipIds[id]][2] < self.lmList[self.tipIds[id] - 2][2]:
                fingers.append(1)
            else:
                fingers.append(0)

        return fingers

    def findDistance(self, p1, p2, img, draw=True, r=15, t=3):
        x1, y1 = self.lmList[p1][1:]
        x2, y2 = self.lmList[p2][1:]
        cx, cy = (x1 + x2) // 2, (y1 + y2) // 2

        if draw:
            # cv2.line(img, (x1, y1), (x2, y2), (255, 0, 255), t)
            # cv2.circle(img, (x1, y1), r, (255, 0, 255), cv2.FILLED)
            # cv2.circle(img, (x2, y2), r, (255, 0, 255), cv2.FILLED)
            # cv2.circle(img, (cx, cy), r, (0, 0, 255), cv2.FILLED)
            length = math.hypot(x2 - x1, y2 - y1)

        return length, img, [x1, y1, x2, y2, cx, cy]


def main():
    # Fps initialization
    pTime = 0
    cTime = 0
    cap = cv2.VideoCapture(0)
    detector = handDetector() # define parameters

    while True:
        success, img = cap.read()
        img = detector.findHands(img)
        lmList, bbox = detector.findPosition(img)
        if len(lmList) != 0:
            print(lmList[4])

        # Fps Updating
        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), 3)  # Prints FPS

        cv2.imshow("Image", img)
        cv2.waitKey(1)


if __name__ == "__main__":
    main()