/
cv_backend.py
163 lines (141 loc) · 6.08 KB
/
cv_backend.py
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import cv2
import mediapipe as mp
import math
import serial
import time
WIDTH = 128
HEIGHT = 128
FPS = 2
mp_drawing = mp.solutions.drawing_utils
mp_hands = mp.solutions.hands
cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc("M", "J", "P", "G"))
cap.set(cv2.CAP_PROP_FRAME_WIDTH, WIDTH)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, HEIGHT)
cap.set(cv2.CAP_PROP_FPS, FPS)
def get_hand_state():
"""Return the hand state as a binary integer"""
counter = 0
wrstxC = 0
wrstyC = 0
thmkxC = 0
thmkyC = 0
thmxC = 0
thmyC = 0
indxC = 0
indyC = 0
midxC = 0
midyC = 0
rngxC = 0
rngyC = 0
pnkxC = 0
pnkyC = 0
knixC = 0
kniyC = 0
knmxC = 0
knmyC = 0
knrxC = 0
knryC = 0
knpxC = 0
knpyC = 0
# cap = cv2.VideoCapture(0)
with mp_hands.Hands(
model_complexity=0, min_detection_confidence=0.5, min_tracking_confidence=0.5
) as hands:
while cap.isOpened():
success, image = cap.read()
if not success:
print("Ignoring empty camera frame.")
# If loading a video, use 'break' instead of 'continue'.
continue
# To improve performance, optionally mark the image as not writeable to
# pass by reference.
image.flags.writeable = False
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
results = hands.process(image)
# Draw the hand annotations on the image.
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
image_height, image_width, _ = image.shape
if results.multi_hand_landmarks:
for hand_landmarks in results.multi_hand_landmarks:
mp_drawing.draw_landmarks(
image, hand_landmarks, mp_hands.HAND_CONNECTIONS
)
# print(hand_landmarks.landmark[0])
state = 31
for ids, landmrk in enumerate(hand_landmarks.landmark):
if ids == 0:
wrstxC, wrstyC = (
landmrk.x * image_width,
landmrk.y * image_height,
)
elif ids == 1:
thmkxC, thmkyC = (
landmrk.x * image_width,
landmrk.y * image_height,
)
elif ids == 4:
thmxC, thmyC = landmrk.x * image_width, landmrk.y * image_height
elif ids == 5:
knixC, kniyC = landmrk.x * image_width, landmrk.y * image_height
elif ids == 8:
indxC, indyC = landmrk.x * image_width, landmrk.y * image_height
elif ids == 9:
knmxC, knmyC = landmrk.x * image_width, landmrk.y * image_height
elif ids == 12:
midxC, midyC = landmrk.x * image_width, landmrk.y * image_height
elif ids == 13:
knrxC, knryC = landmrk.x * image_width, landmrk.y * image_height
elif ids == 16:
rngxC, rngyC = landmrk.x * image_width, landmrk.y * image_height
elif ids == 17:
knpxC, knpyC = landmrk.x * image_width, landmrk.y * image_height
elif ids == 20:
pnkxC, pnkyC = landmrk.x * image_width, landmrk.y * image_height
ind_disC = math.sqrt((indxC - wrstxC) ** 2 + (indyC - wrstyC) ** 2)
mid_disC = math.sqrt((midxC - wrstxC) ** 2 + (midyC - wrstyC) ** 2)
rng_disC = math.sqrt((rngxC - wrstxC) ** 2 + (rngyC - wrstyC) ** 2)
pnk_disC = math.sqrt((pnkxC - wrstxC) ** 2 + (pnkyC - wrstyC) ** 2)
thm_disC = math.sqrt((thmxC - knpxC) ** 2 + (thmyC - knpyC) ** 2) * 1.05
thmk_disC = math.sqrt((thmkxC - knpxC) ** 2 + (thmkyC - knpyC) ** 2)
kni_disC = math.sqrt((wrstxC - knixC) ** 2 + (wrstyC - kniyC) ** 2)
knm_disC = math.sqrt((wrstxC - knmxC) ** 2 + (wrstyC - knmyC) ** 2)
knr_disC = math.sqrt((wrstxC - knrxC) ** 2 + (wrstyC - knryC) ** 2)
knp_disC = math.sqrt((wrstxC - knpxC) ** 2 + (wrstyC - knpyC) ** 2)
if thm_disC < thmk_disC:
state -= 16
#print("thumb down")
if ind_disC < kni_disC:
state -= 8
#print("index down")
if mid_disC < knm_disC:
state -= 4
#print("middl down")
if rng_disC < knr_disC:
state -= 2
#print("ring_ down")
if pnk_disC < knp_disC:
#print("pinky down")
state -= 1
# ind_ratC = math.sqrt((indxC-knixC)**2 + (indyC-kniyC)**2)/(math.sqrt((indxC-knixC)**2 + (indyC-kniyC)**2) + kni_disC)
# mid_ratC = math.sqrt((midxC-knmxC)**2 + (midyC-knmyC)**2)/(math.sqrt((midxC-knmxC)**2 + (midyC-knmyC)**2) + knm_disC)
# rng_ratC = math.sqrt((rngxC-knrxC)**2 + (rngyC-knryC)**2)/(math.sqrt((rngxC-knrxC)**2 + (rngyC-knryC)**2) + knr_disC)
# pnk_ratC = math.sqrt((pnkxC-knpxC)**2 + (pnkyC-knpyC)**2)/(math.sqrt((pnkxC-knpxC)**2 + (pnkyC-knpyC)**2) + knp_disC)
# Flip the image horizontally for a selfie-view display.
#cv2.imshow('MediaPipe Hands', cv2.flip(image, 1))
if cv2.waitKey(5) & 0xFF == ord("q"):
cap.release()
return state
if __name__ == "__main__":
ser = serial.Serial("/dev/ttyUSB0", 9600, timeout=1)
ser.reset_input_buffer()
print("started CV backend")
while True:
num = get_hand_state()
num = num.to_bytes(1, "big")
#print(num)
ser.write(num)
# line = ser.readline().decode('utf-8').rstrip()
# print(line)
# time.sleep(1)