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133 lines
4.6 KiB
133 lines
4.6 KiB
import math
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import mediapipe as mp
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mp_hands = mp.solutions.hands
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def calculateAngle(results):
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# 计算两个拳头的夹角
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handedness_list = results.multi_handedness
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handedness = handedness_list[0]
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if(handedness=='Left'):
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left_fist = results.multi_hand_landmarks[0]
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right_fist = results.multi_hand_landmarks[1]
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else:
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left_fist = results.multi_hand_landmarks[1]
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right_fist = results.multi_hand_landmarks[0]
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x1, y1 = vector_from_landmarks(left_fist)
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x2, y2 = vector_from_landmarks(right_fist)
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angle = math.atan((y1-y2)/(x1-x2))
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angle = math.degrees(angle)
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return angle
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def vector_from_landmarks(landmarks):
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# 从手部关键点获取向量
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x = (landmarks.landmark[mp_hands.HandLandmark.INDEX_FINGER_TIP].x + landmarks.landmark[mp_hands.HandLandmark.WRIST].x)/2
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y = (landmarks.landmark[mp_hands.HandLandmark.INDEX_FINGER_TIP].y + landmarks.landmark[mp_hands.HandLandmark.WRIST].y)/2
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return x, y
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def vector_2d_angle(v1,v2):
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v1_x=v1[0]
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v1_y=v1[1]
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v2_x=v2[0]
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v2_y=v2[1]
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try:
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angle_= math.degrees(math.acos((v1_x*v2_x+v1_y*v2_y)/(((v1_x**2+v1_y**2)**0.5)*((v2_x**2+v2_y**2)**0.5))))
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except:
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angle_ = 1234.
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if angle_ > 180.:
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angle_ = 1234.
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return angle_
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def hand_angle(hand_):
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angle_list = []
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angle_ = vector_2d_angle(
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((int(hand_[0][0])- int(hand_[2][0])),(int(hand_[0][1])-int(hand_[2][1]))),
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((int(hand_[3][0])- int(hand_[4][0])),(int(hand_[3][1])- int(hand_[4][1])))
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)
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angle_list.append(angle_)
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angle_ = vector_2d_angle(
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((int(hand_[0][0])-int(hand_[6][0])),(int(hand_[0][1])- int(hand_[6][1]))),
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((int(hand_[7][0])- int(hand_[8][0])),(int(hand_[7][1])- int(hand_[8][1])))
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)
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angle_list.append(angle_)
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angle_ = vector_2d_angle(
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((int(hand_[0][0])- int(hand_[10][0])),(int(hand_[0][1])- int(hand_[10][1]))),
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((int(hand_[11][0])- int(hand_[12][0])),(int(hand_[11][1])- int(hand_[12][1])))
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)
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angle_list.append(angle_)
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angle_ = vector_2d_angle(
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((int(hand_[0][0])- int(hand_[14][0])),(int(hand_[0][1])- int(hand_[14][1]))),
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((int(hand_[15][0])- int(hand_[16][0])),(int(hand_[15][1])- int(hand_[16][1])))
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)
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angle_list.append(angle_)
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angle_ = vector_2d_angle(
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((int(hand_[0][0])- int(hand_[18][0])),(int(hand_[0][1])- int(hand_[18][1]))),
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((int(hand_[19][0])- int(hand_[20][0])),(int(hand_[19][1])- int(hand_[20][1])))
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)
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angle_list.append(angle_)
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return angle_list
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def check_fist(angle_list):
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thr_angle = 65.
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thr_angle_thumb = 53.
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if 1234. not in angle_list:
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if (angle_list[0]>thr_angle_thumb) and (angle_list[1]>thr_angle) and (angle_list[2]>thr_angle) and (angle_list[3]>thr_angle) and (angle_list[4]>thr_angle):
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return True
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return False
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def check_thumb(angle_list):
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thr_angle = 65.
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thr_angle_thumb = 25.
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if 1234. not in angle_list:
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if (angle_list[0]<thr_angle_thumb) and (angle_list[1]>thr_angle) and (angle_list[2]>thr_angle) and (angle_list[3]>thr_angle) and (angle_list[4]>thr_angle):
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return True
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return False
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def update_gesture_status_low(detector):
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results = detector.results
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left_fist = False
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right_fist = False
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left_thumb = False
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right_thumb = False
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angle = 0
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if results.multi_hand_landmarks:
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for idx,hand_landmarks in enumerate(results.multi_hand_landmarks):
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handedness = results.multi_handedness[idx].classification[0].label
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# print(handedness)
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hand_local = []
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for i in range(21):
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x = hand_landmarks.landmark[i].x*detector.y
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y = hand_landmarks.landmark[i].y*detector.x
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hand_local.append((x,y))
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if hand_local:
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angle_list = hand_angle(hand_local)
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if handedness == 'Right':
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right_fist = check_fist(angle_list)
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if(not right_fist):
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right_thumb = check_thumb(angle_list)
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elif handedness == 'Left':
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left_fist = check_fist(angle_list)
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if(not left_fist):
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left_thumb = check_thumb(angle_list)
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if ((left_fist == False) + (right_fist == False) + (left_thumb == False) + (right_thumb == False) < 3):
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angle = calculateAngle(results)
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return {
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"Left Fist": left_fist,
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"Right Fist": right_fist,
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"Left Thumb": left_thumb,
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"Right Thumb": right_thumb,
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"Angle": angle
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}
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