#******************************************************************************
# Copyright : 南京航空航天大学金城学院
# file name : handGestrueV.py
# author : sunfuqing2001@qq.com
# date : 2025.3
# description : ubuntu 24.04,python,opencv,mediapipe
# version : V1.0
# purpose : for educational purposes in innovation and practice Course
# *****************************************************************************
import cv2
import mediapipe as mp
import numpy as np
import math
import sys
#-------------------------------------
def imgshow_piont(textimg,idx,cx,cy):
cv2.circle(textimg, (cx, cy), 1, (255,0,0), -1)
img = cv2.putText(textimg,
#( "%d(%d,%d)"%(idx,cx,cy) ),
( "%d"%(idx) ),
(cx, cy),
cv2.FONT_HERSHEY_SIMPLEX,
0.3,(0, 0, 0), 1, 1)
#-------------------------------------
def imgshow_finger_landmark(img,handNo,fingerName,
idx_0,p0_x,p0_y,
idx_1,p1_x,p1_y,
idx_2,p2_x,p2_y,
idx_3,p3_x,p3_y ):
h, w, c = img.shape
imgSpace = np.full((60,w,3),255,np.uint8)
fingerImg = np.vstack((img,imgSpace))
imgshow_piont(fingerImg,idx_0,p0_x,p0_y)
imgshow_piont(fingerImg,idx_1,p1_x,p1_y)
imgshow_piont(fingerImg,idx_2,p2_x,p2_y)
imgshow_piont(fingerImg,idx_3,p3_x,p3_y)
cv2.putText(fingerImg,fingerName,
(10,50+h),
cv2.FONT_HERSHEY_SIMPLEX,1,(0,0,0),2)
cv2.imshow("handNo-"+str(handNo)+"-finger-"+fingerName,fingerImg)
#-------------------------------------
#def isFingerStraight_segmentLength(handIdx,fingerName,p0_x,p0_y,p1_x,p1_y,p2_x,p2_y,p3_x,p3_y):
def isFingerStraight(handIdx,fingerName,p0_x,p0_y,p1_x,p1_y,p2_x,p2_y,p3_x,p3_y):
straight = 0
if ( (p0_x > p1_x) and (p1_x > p2_x) and (p2_x > p3_x) ):
x_decrease = 1
else:
x_decrease = 0
if ( (p0_x < p1_x) and (p1_x < p2_x) and (p2_x < p3_x) ):
x_increase = 1
else:
x_increase = 0
if ( (p0_y > p1_y) and (p1_y > p2_y) and (p2_y > p3_y) ):
y_decrease = 1
else:
y_decrease = 0
if ( (p0_y < p1_y) and (p1_y < p2_y) and (p2_y < p3_y) ):
y_increase = 1
else:
y_increase = 0
print("handIdx=%d,fingerName=%s,x_decrease=%d,x_increase=%d,y_decrease=%d,y_increase=%d"%(handIdx,fingerName,x_decrease,x_increase,y_decrease,y_increase) )
if( (1==x_decrease) or (1==x_increase) or (1==y_decrease) or (1==y_increase) ):
print("handIdx=%d,fingerName=%s,four points maybe stretch"%(handIdx,fingerName))
else:
print("handIdx=%d,fingerName=%s,four points overlapped,not strecth"%(handIdx,fingerName))
return straight
#判断四个坐标点是否近似直线，手指的4个地标点是否近似伸直
#方法:
# 计算3个线段的线段(0-1,1-2,2-3)长度和L01+L12+L23，首尾两点(0-3)之间的线段长度L03,
# 如果L01+L12+L23 接近 L03,说明手指是伸直的；
# 如果 L01+L12+L23 超过 L03较多，说明手指弯曲
# 这个超过程度，通过比例因子来衡量
distance_p0_p1 = math.sqrt( (p1_x - p0_x)**2 + (p1_y - p0_y)**2 )
distance_p1_p2 = math.sqrt( (p2_x - p1_x)**2 + (p2_y - p1_y)**2 )
distance_p3_p2 = math.sqrt( (p3_x - p2_x)**2 + (p3_y - p2_y)**2 )
distance_p0_p3 = math.sqrt( (p3_x - p0_x)**2 + (p3_y - p0_y)**2 )
total = distance_p0_p1 + distance_p1_p2 + distance_p3_p2
ratio = 0.99
if ( distance_p0_p3 < (total * ratio) ):
straight = 0 #finger bent
else:
straight = 1
print("handIdx=%d,fingerName=%s,L01+L12+L23=%.2f L03=%.2f actual ratio=%.3f"%(handIdx,fingerName,total,distance_p0_p3,(distance_p0_p3/total)))
return straight
#-------------------------------------
def isFingerStraight_slopeVerticalDistance(p0_x,p0_y,p1_x,p1_y,p2_x,p2_y,p3_x,p3_y):
"""
判断四个点是否近似在一条直线上。
参数：
points: 坐标点列表，如 [(x1, y1), (x2, y2), ...]。a
epsilon: 距离阈值，如果所有点到直线的距离都小于这个值，则认为共线。
返回：
True(近似共线)或 False(不共线)。
巨大的缺点: 如果手指折叠，在图像中为一条线，导致错误识别
"""
slope, intercept = np.polyfit((p0_x,p1_x,p2_x,p3_x), (p0_y,p1_y,p2_y,p3_y), 1)
# 将直线方程 y = slope * x + intercept 转换为标准形式 a*x + b*y + c = 0
a = slope
b = -1
c = intercept
d0 = abs(a * p0_x + b * p0_y + c) / np.sqrt(a**2 + b**2)
d1 = abs(a * p1_x + b * p1_y + c) / np.sqrt(a**2 + b**2)
d2 = abs(a * p2_x + b * p2_y + c) / np.sqrt(a**2 + b**2)
d3 = abs(a * p3_x + b * p3_y + c) / np.sqrt(a**2 + b**2)
print( "d0=%.2f,d1=%.2f,d2=%.2f,d3=%.2f"%(d0,d1,d2,d3) )
#-------------------------------------
def calculateFitLineDegree(p0_x,p0_y,p1_x,p1_y,p2_x,p2_y,p3_x,p3_y):
"""
拟合一条直线，并计算每个点到这条直线的垂直距离。
输入:points: 一个包含四个坐标的列表
返回:拟合直线的角度
"""
# 使用numpy.polyfit拟合直线，得到斜率和截距
slope, intercept = np.polyfit((p0_x,p1_x,p2_x,p3_x), (p0_y,p1_y,p2_y,p3_y), 1)
# 计算夹角（单位为弧度)
theta_radians = np.arctan(slope)
# 将弧度转换为度数
theta_degrees = np.degrees(theta_radians)
return theta_degrees
#-------------------------------------
# 判断手势V型(剪刀手)的原则 ： 只有食指和中指竖起,且两者之间夹角大于10度?
# 掌根 0
# 拇指（Thumb）,1,2,3,4
# 食指（Index Finger）,四个地标点序号: 5,6,7,8
# 中指（Middle Finger）,四个地标点序号: 9,10,11,12
# 无名指（Ring Finger）,13,14,15,16
# 小指（Pinky Finger）,17,18,19,20
def hand_gesture_vShape(img,handResult):
h, w, c = img.shape
imgSpace = np.full((60,w,3),255,np.uint8)
textImg = np.vstack((img,imgSpace))
vShapeCnt = 0
finger_straight_cnt = 0
#for index,handedness in enumerate(handResult.multi_handedness):
for index,handlms in enumerate(results.multi_hand_landmarks):
p01_x = int(handlms.landmark[1].x * w )
p01_y = int(handlms.landmark[1].y * h )
p02_x = int(handlms.landmark[2].x * w )
p02_y = int(handlms.landmark[2].y * h )
p03_x = int(handlms.landmark[3].x * w )
p03_y = int(handlms.landmark[3].y * h )
p04_x = int(handlms.landmark[4].x * w )
p04_y = int(handlms.landmark[4].y * h )
p05_x = int(handlms.landmark[5].x * w )
p05_y = int(handlms.landmark[5].y * h )
p06_x = int(handlms.landmark[6].x * w )
p06_y = int(handlms.landmark[6].y * h )
p07_x = int(handlms.landmark[7].x * w )
p07_y = int(handlms.landmark[7].y * h )
p08_x = int(handlms.landmark[8].x * w )
p08_y = int(handlms.landmark[8].y * h )
p09_x = int(handlms.landmark[9].x * w )
p09_y = int(handlms.landmark[9].y * h )
p10_x = int(handlms.landmark[10].x * w)
p10_y = int(handlms.landmark[10].y * h)
p11_x = int(handlms.landmark[11].x * w)
p11_y = int(handlms.landmark[11].y * h)
p12_x = int(handlms.landmark[12].x * w)
p12_y = int(handlms.landmark[12].y * h)
p13_x = int(handlms.landmark[13].x * w)
p13_y = int(handlms.landmark[13].y * h)
p14_x = int(handlms.landmark[14].x * w)
p14_y = int(handlms.landmark[14].y * h)
p15_x = int(handlms.landmark[15].x * w)
p15_y = int(handlms.landmark[15].y * h)
p16_x = int(handlms.landmark[16].x * w)
p16_y = int(handlms.landmark[16].y * h)
p17_x = int(handlms.landmark[17].x * w)
p17_y = int(handlms.landmark[17].y * h)
p18_x = int(handlms.landmark[18].x * w)
p18_y = int(handlms.landmark[18].y * h)
p19_x = int(handlms.landmark[19].x * w)
p19_y = int(handlms.landmark[19].y * h)
p20_x = int(handlms.landmark[20].x * w)
p20_y = int(handlms.landmark[20].y * h)
imgshow_finger_landmark(img,index,"damuzhi",
1,p01_x,p01_y,
2,p02_x,p02_y,
3,p03_x,p03_y,
4,p04_x,p04_y )
imgshow_finger_landmark(img,index,"shizhi",
5,p05_x,p05_y,
6,p06_x,p06_y,
7,p07_x,p07_y,
8,p08_x,p08_y )
imgshow_finger_landmark(img,index,"zhongzhi",
9 ,p09_x,p09_y,
10,p10_x,p10_y,
11,p11_x,p11_y,
12,p12_x,p12_y )
imgshow_finger_landmark(img,index,"wumingzhi",
13,p13_x,p13_y,
14,p14_x,p14_y,
15,p15_x,p15_y,
16,p16_x,p16_y )
imgshow_finger_landmark(img,index,"xiaozhi",
17,p17_x,p17_y,
18,p18_x,p18_y,
19,p19_x,p19_y,
20,p20_x,p20_y )
straightDamuzhiFlag = isFingerStraight(index,"damuzhi",p01_x,p01_y,p02_x,p02_y,p03_x,p03_y,p04_x,p04_y)
finger_straight_cnt += straightDamuzhiFlag
print("handNo=%d,straightDamuzhiFlag=%d,finger_straight_cnt=%d"%(index,straightDamuzhiFlag,finger_straight_cnt))
straightShizhiFlag = isFingerStraight(index,"shizhi",p05_x,p05_y,p06_x,p06_y,p07_x,p07_y,p08_x,p08_y)
finger_straight_cnt += straightShizhiFlag
print("handNo=%d,straightShizhiFlag=%d,finger_straight_cnt=%d"%(index,straightShizhiFlag,finger_straight_cnt))
straightZhongzhiFlag = isFingerStraight(index,"zhongzhi",p09_x,p09_y,p10_x,p10_y,p11_x,p11_y,p12_x,p12_y)
finger_straight_cnt += straightZhongzhiFlag
print("handNo=%d,straightZhongzhiFlag=%d,finger_straight_cnt=%d"%(index,straightZhongzhiFlag,finger_straight_cnt))
straightWumingzhiFlag = isFingerStraight(index,"wumingzhi",p13_x,p13_y,p14_x,p14_y,p15_x,p15_y,p16_x,p16_y)
finger_straight_cnt += straightWumingzhiFlag
print("handNo=%d,straightWumingzhiFlag=%d,finger_straight_cnt=%d"%(index,straightWumingzhiFlag,finger_straight_cnt))
straightXiaozhiFlag = isFingerStraight(index,"xiaozhi",p17_x,p17_y,p18_x,p18_y,p19_x,p19_y,p20_x,p20_y)
finger_straight_cnt += straightXiaozhiFlag
print("handNo=%d,straightXiaozhiFlag=%d,finger_straight_cnt=%d"%(index,straightXiaozhiFlag,finger_straight_cnt))
if( (0==straightXiaozhiFlag) and (0==straightWumingzhiFlag) and (0==straightDamuzhiFlag) and
(1==straightZhongzhiFlag) and (1==straightShizhiFlag) ):
imgshow_piont(textImg,5,p05_x,p05_y)
imgshow_piont(textImg,6,p06_x,p06_y)
imgshow_piont(textImg,7,p07_x,p07_y)
imgshow_piont(textImg,8,p08_x,p08_y)
imgshow_piont(textImg,9,p09_x,p09_y)
imgshow_piont(textImg,10,p10_x,p10_y)
imgshow_piont(textImg,11,p11_x,p11_y)
imgshow_piont(textImg,12,p12_x,p12_y)
degree_shizhi = calculateFitLineDegree( p05_x,p05_y,p06_x,p06_y,p07_x,p07_y,p08_x,p08_y )
print("handNo=%d,degree_shizhi=%d"%(index,degree_shizhi))
degree_zhongzhi = calculateFitLineDegree( p09_x,p09_y,p10_x,p10_y,p11_x,p11_y,p12_x,p12_y )
print("handNo=%d,degree_zhongzhi=%d"%(index,degree_zhongzhi))
angle = abs(degree_shizhi - degree_zhongzhi)
if(angle > 10):
vShapeCnt += 1
else:
print("angle_theta_zhongzhi_shizhi=%.2f too small(<10)"%(angle))
#cv2.putText(textImg,"fingersStraight:"+str(finger_straight_cnt) + "vShapeCnt:"+str(vShapeCnt),
cv2.putText(textImg,"vShapeCnt:"+str(vShapeCnt),
(10,50+h),
cv2.FONT_HERSHEY_SIMPLEX,1,(0,0,0),2)
cv2.imshow("textImg",textImg)
#------------------------------------------------------------------------------
def imgHeightResize(img, fixedHeight):
imgResized = img
imgH,imgW,imgChs = imgResized.shape
ratioH = fixedHeight/imgH
imgResized = cv2.resize(img,None,fx=ratioH,fy=ratioH,interpolation=cv2.INTER_CUBIC)
return imgResized
#------------------------------------------------------------------------------
def imgshow_hand_landmarks(img,handLms):
h, w = img.shape[0], img.shape[1]
for idx, coord in enumerate(handLms.landmark):
cx = int(coord.x * w)
cy = int(coord.y * h)
cv2.circle(img, (cx, cy), 1, (255,0,0), -1)
img = cv2.putText(img,
# ( "%d(%d,%d)"%(idx,cx,cy) ),
( "%d"%(idx) ),
(cx, cy),
cv2.FONT_HERSHEY_SIMPLEX,
0.35,(0, 0, 0), 1, 1)
#------------------------------------------------------------------------------
if __name__ == '__main__':
# 提示用户输入文件名
#file_name = input("请输入文件名：")
# 检查命令行参数 python your_script.py example.txt
if len(sys.argv) < 2:
print("请提供文件名作为命令行参数！python3 your_script.py example.txt")
sys.exit(1)
# 获取文件名
file_name = sys.argv[1]
# 打开并读取文件
try:
with open(file_name, 'r', encoding='utf-8') as file:
print(f"文件 '{file_name}' 找到")
except FileNotFoundError:
print(f"错误：文件 '{file_name}' 未找到！")
sys.exit(1)
except Exception as e:
print(f"发生错误：{e}")
sys.exit(1)
imgOrg = cv2.imread(file_name)
img = imgHeightResize(imgOrg, 640)
imgRGB = cv2.cvtColor(img,cv2.COLOR_BGR2RGB)
handDetector = mp.solutions.hands.Hands(static_image_mode=True,
model_complexity=1,
max_num_hands=10,
min_detection_confidence=0.5,
min_tracking_confidence=0.5)
results = handDetector.process(imgRGB)
if (results.multi_hand_landmarks):
hand_gesture_vShape(img,results)
#for handlms in results.multi_hand_landmarks:
#mp.solutions.drawing_utils.draw_landmarks(img,
# handlms, mp.solutions.haqnds.HAND_CONNECTIONS)
#imgshow_hand_landmarks(img,handlms)
else:
cv2.putText(img,"no hands detected",(100,100),cv2.FONT_HERSHEY_COMPLEX,1,(0,0,255),2,8)
cv2.imshow("img",img)
cv2.waitKey(0)
cv2.destroyAllWindows()
