Week 5

Hand track (Python)

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This is my hand-track Python code

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import cv2
import mediapipe as mp
import math

# Initialize MediaPipe Hands
mp_hands = mp.solutions.hands
hands = mp_hands.Hands()

# Define robot control functions (replace with actual robot control code)
def robot_change_function():
    print("Robot Change function to 'ARUCO'")

def robot_stand():
    print("Robot standup")

def robot_sit():
    print("Robot standdown")

def robot_turn_left():
    print("Robot turning left")

def robot_turn_right():
    print("Robot turning right")

def robot_follow():
    print("Robot start follow")

def robot_stop():
    print("Robot stop")

# Initialize the webcam
cap = cv2.VideoCapture(0)

while True:
    # Read a frame from the webcam
    ret, frame = cap.read()

    if not ret:
        break
    
    # Flip the frame horizontally
    frame = cv2.flip(frame, 1)  # 1 means horizontal flip

    # Get the dimensions of the frame
    height, width, _ = frame.shape

    # Draw horizontal (X) and vertical (Y) axes
    cv2.line(frame, (0, height // 2), (width, height // 2), (0, 0, 255), 1)
    cv2.line(frame, (width // 2, 0), (width // 2, height), (0, 0, 255), 1)

    # Add text labels for the axes
    cv2.putText(frame, "+X", (width - 20, height // 2 + 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 1)
    cv2.putText(frame, "-X", (5, height // 2 + 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 1)
    cv2.putText(frame, "+Y", (width // 2 - 20, 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 1)
    cv2.putText(frame, "-Y", (width // 2 - 20, height - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 1)

    # Convert the frame to RGB for processing by MediaPipe
    frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)

    # Process the frame and detect hands
    results = hands.process(frame_rgb)

    if results.multi_hand_landmarks:
        for hand_landmarks in results.multi_hand_landmarks:
            # Draw hand landmarks and label each point with its index
            for idx, landmark in enumerate(hand_landmarks.landmark):
                x, y = int(landmark.x * width), int(landmark.y * height)

                # Draw circles at the landmark positions
                cv2.circle(frame, (x, y), 5, (0, 255, 0), -1)

                # Add labels indicating landmark index
                cv2.putText(frame, str(idx), (x, y), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1)

            # Check for fingers extended
            fingertips = [4, 8, 12, 16, 20]  # Landmark indices for fingertips
            fingers_extended = all(
                math.dist(
                    (hand_landmarks.landmark[fingertip1].x * width, hand_landmarks.landmark[fingertip1].y * height),
                    (hand_landmarks.landmark[fingertip2].x * width, hand_landmarks.landmark[fingertip2].y * height)
                ) > 30  # Adjust this threshold as needed
                for fingertip1, fingertip2 in [(0, 4), (4, 8), (8, 12), (12, 16), (16, 20)]
            )
            # Calculate the x-coordinate of the thumb tip and the index finger tip
            x1 = hand_landmarks.landmark[1].x * width
            x2 = hand_landmarks.landmark[2].x * width
            thumb_x4 = hand_landmarks.landmark[4].x * width
            index_x8 = hand_landmarks.landmark[8].x * width

            
            # Display a message based on fingers extended
            # if fingers_extended:
            #     cv2.putText(frame, "Fingers Extended", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
            

            # Check if landmark 12 (top of hand) is at its highest position on the Y-axis
            # and landmark 4 (rightmost) is at its highest position on the X-axis
            #StandbyRight
            if (
                hand_landmarks.landmark[12].y == min(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                and hand_landmarks.landmark[4].x == max(hand_landmarks.landmark[landmark_idx].x for landmark_idx in range(21))
            ):
                cv2.putText(frame, "Aruco", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
                robot_change_function()
            #StandbyLeft
            elif (
                hand_landmarks.landmark[12].y == min(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                and hand_landmarks.landmark[4].x == min(hand_landmarks.landmark[landmark_idx].x for landmark_idx in range(21))              
            ):
                cv2.putText(frame, "Aruco", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
                robot_change_function()
            #UpRight
            elif (
                hand_landmarks.landmark[8].y == min(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                and hand_landmarks.landmark[4].x == max(hand_landmarks.landmark[landmark_idx].x for landmark_idx in range(21))
            ):
                cv2.putText(frame, "Stand", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
                robot_stand()
            #UpLeft
            elif (
                hand_landmarks.landmark[8].y == min(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                and hand_landmarks.landmark[4].x == min(hand_landmarks.landmark[landmark_idx].x for landmark_idx in range(21))
            ):
                cv2.putText(frame, "Stand", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
                robot_stand()
            #DownRight
            elif (
                hand_landmarks.landmark[8].y == max(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                and hand_landmarks.landmark[4].x == max(hand_landmarks.landmark[landmark_idx].x for landmark_idx in range(21))
            ):
                cv2.putText(frame, "Sit", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
                robot_sit()
            #DownLeft
            elif (
                hand_landmarks.landmark[8].y == max(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                and hand_landmarks.landmark[4].x == min(hand_landmarks.landmark[landmark_idx].x for landmark_idx in range(21))
            ):
                cv2.putText(frame, "Sit", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
                robot_sit()
            #Turn(R)
            elif (
                hand_landmarks.landmark[4].y == min(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                and hand_landmarks.landmark[8].x == max(hand_landmarks.landmark[landmark_idx].x for landmark_idx in range(21))
            ):
                cv2.putText(frame, "Right", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
                robot_turn_right()
            #Turn(L)
            elif (
                hand_landmarks.landmark[4].y == min(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                and hand_landmarks.landmark[8].x == min(hand_landmarks.landmark[landmark_idx].x for landmark_idx in range(21))
            ):
                cv2.putText(frame, "Left", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
                robot_turn_left()
            #FollowRight
            elif (
                hand_landmarks.landmark[12].y == max(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                and hand_landmarks.landmark[4].x == max(hand_landmarks.landmark[landmark_idx].x for landmark_idx in range(21))
            ):
                cv2.putText(frame, "Follow", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
                robot_follow()
            #FollowLeft
            elif (
                hand_landmarks.landmark[12].y == max(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                and hand_landmarks.landmark[4].x == min(hand_landmarks.landmark[landmark_idx].x for landmark_idx in range(21))
            ):
                cv2.putText(frame, "Follow", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
                robot_follow()
            elif (
                hand_landmarks.landmark[10].y == min(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
                or hand_landmarks.landmark[9].y == min(hand_landmarks.landmark[landmark_idx].y for landmark_idx in range(21))
            ):
                cv2.putText(frame, "Stop", (10, height - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)
                robot_stop()
            
    # Display the frame with the labeled X and Y axes, hand landmarks, and landmark numbers
    cv2.imshow("Hand Detection", frame)

    # Exit the loop when 'e' is pressed
    if cv2.waitKey(1) & 0xFF == ord('e'):
        break

# Release the webcam and close OpenCV windows
cap.release()
cv2.destroyAllWindows()

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