HandTrackingModule.py

import cv2
import mediapipe as mp

class handDetector():
    def __init__(self, mode=False, maxHands=2, detectionCon=0.5, trackCon=0.5):
        # 初始化手部检测器参数
        self.mode = mode
        self.maxHands = maxHands
        self.detectionCon = detectionCon
        self.trackCon = trackCon

        # 设置MediaPipe手部解决方案
        self.mpHands = mp.solutions.hands
        self.hands = self.mpHands.Hands(
            static_image_mode=self.mode,
            max_num_hands=self.maxHands,
            min_detection_confidence=self.detectionCon,
            min_tracking_confidence=self.trackCon
        )
        self.mpDraw = mp.solutions.drawing_utils
        self.tipIds = [4, 8, 12, 16, 20]  # 指尖的关键点ID

    def findHands(self, img, draw=True):
        # 将图像从BGR转换为RGB
        imgRGB = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
        self.results = self.hands.process(imgRGB)

        # 如果检测到手部关键点，绘制它们
        if self.results.multi_hand_landmarks:
            for handLms in self.results.multi_hand_landmarks:
                if draw:
                    self.mpDraw.draw_landmarks(img, handLms, self.mpHands.HAND_CONNECTIONS)
        return img

    def findPosition(self, img, draw=True):
        # 获取手部关键点的坐标
        self.lmList = []
        if self.results.multi_hand_landmarks:
            for handLms in self.results.multi_hand_landmarks:
                for id, lm in enumerate(handLms.landmark):
                    h, w, c = img.shape
                    cx, cy = int(lm.x * w), int(lm.y * h)
                    self.lmList.append([id, cx, cy])
                    if draw:
                        cv2.circle(img, (cx, cy), 12, (255, 0, 255), cv2.FILLED)
        print(self.lmList)
        return self.lmList

    def fingersUp(self):
        # 检测哪些手指抬起
        fingers = []
        # 检测大拇指
        if self.lmList[self.tipIds[0]][1] > self.lmList[self.tipIds[0] - 1][1]:
            fingers.append(1)
        else:
            fingers.append(0)

        # 检测其他手指
        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=5, t=1):
        # 计算两个手指之间的距离
        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, 0), cv2.FILLED)
            cv2.circle(img, (x2, y2), r, (255, 0, 0), cv2.FILLED)
            cv2.circle(img, (cx, cy), r, (0, 0, 255), cv2.FILLED)
        length = ((x2 - x1) ** 2 + (y2 - y1) ** 2) ** 0.5

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