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601# Imports
import cv2
import mediapipe as mp
import pyautogui
import math
from enum import IntEnum
from ctypes import cast, POINTER
from comtypes import CLSCTX_ALL
from pycaw.pycaw import AudioUtilities, IAudioEndpointVolume
from google.protobuf.json_format import MessageToDict
import screen_brightness_control as sbcontrol
pyautogui.FAILSAFE = False
mp_drawing = mp.solutions.drawing_utils
mp_hands = mp.solutions.hands
# Gesture Encodings
class Gest(IntEnum):
# Binary Encoded
"""
Enum for mapping all hand gesture to binary number.
"""
FIST = 0
PINKY = 1
RING = 2
MID = 4
LAST3 = 7
INDEX = 8
FIRST2 = 12
LAST4 = 15
THUMB = 16
PALM = 31
# Extra Mappings
V_GEST = 33
TWO_FINGER_CLOSED = 34
PINCH_MAJOR = 35
PINCH_MINOR = 36
# Multi-handedness Labels
class HLabel(IntEnum):
MINOR = 0
MAJOR = 1
# Convert Mediapipe Landmarks to recognizable Gestures
class HandRecog:
"""
Convert Mediapipe Landmarks to recognizable Gestures.
"""
def __init__(self, hand_label):
"""
Constructs all the necessary attributes for the HandRecog object.
Parameters
----------
finger : int
Represent gesture corresponding to Enum 'Gest',
stores computed gesture for current frame.
ori_gesture : int
Represent gesture corresponding to Enum 'Gest',
stores gesture being used.
prev_gesture : int
Represent gesture corresponding to Enum 'Gest',
stores gesture computed for previous frame.
frame_count : int
total no. of frames since 'ori_gesture' is updated.
hand_result : Object
Landmarks obtained from mediapipe.
hand_label : int
Represents multi-handedness corresponding to Enum 'HLabel'.
"""
self.finger = 0
self.ori_gesture = Gest.PALM
self.prev_gesture = Gest.PALM
self.frame_count = 0
self.hand_result = None
self.hand_label = hand_label
def update_hand_result(self, hand_result):
self.hand_result = hand_result
def get_signed_dist(self, point):
"""
returns signed euclidean distance between 'point'.
Parameters
----------
point : list contaning two elements of type list/tuple which represents
landmark point.
Returns
-------
float
"""
sign = -1
if self.hand_result.landmark[point[0]].y < self.hand_result.landmark[point[1]].y:
sign = 1
dist = (self.hand_result.landmark[point[0]].x - self.hand_result.landmark[point[1]].x)**2
dist += (self.hand_result.landmark[point[0]].y - self.hand_result.landmark[point[1]].y)**2
dist = math.sqrt(dist)
return dist*sign
def get_dist(self, point):
"""
returns euclidean distance between 'point'.
Parameters
----------
point : list contaning two elements of type list/tuple which represents
landmark point.
Returns
-------
float
"""
dist = (self.hand_result.landmark[point[0]].x - self.hand_result.landmark[point[1]].x)**2
dist += (self.hand_result.landmark[point[0]].y - self.hand_result.landmark[point[1]].y)**2
dist = math.sqrt(dist)
return dist
def get_dz(self,point):
"""
returns absolute difference on z-axis between 'point'.
Parameters
----------
point : list contaning two elements of type list/tuple which represents
landmark point.
Returns
-------
float
"""
return abs(self.hand_result.landmark[point[0]].z - self.hand_result.landmark[point[1]].z)
# Function to find Gesture Encoding using current finger_state.
# Finger_state: 1 if finger is open, else 0
def set_finger_state(self):
"""
set 'finger' by computing ratio of distance between finger tip
, middle knuckle, base knuckle.
Returns
-------
None
"""
if self.hand_result == None:
return
points = [[8,5,0],[12,9,0],[16,13,0],[20,17,0]]
self.finger = 0
self.finger = self.finger | 0 #thumb
for idx,point in enumerate(points):
dist = self.get_signed_dist(point[:2])
dist2 = self.get_signed_dist(point[1:])
try:
ratio = round(dist/dist2,1)
except:
ratio = round(dist1/0.01,1)
self.finger = self.finger << 1
if ratio > 0.5 :
self.finger = self.finger | 1
# Handling Fluctations due to noise
def get_gesture(self):
"""
returns int representing gesture corresponding to Enum 'Gest'.
sets 'frame_count', 'ori_gesture', 'prev_gesture',
handles fluctations due to noise.
Returns
-------
int
"""
if self.hand_result == None:
return Gest.PALM
current_gesture = Gest.PALM
if self.finger in [Gest.LAST3,Gest.LAST4] and self.get_dist([8,4]) < 0.05:
if self.hand_label == HLabel.MINOR :
current_gesture = Gest.PINCH_MINOR
else:
current_gesture = Gest.PINCH_MAJOR
elif Gest.FIRST2 == self.finger :
point = [[8,12],[5,9]]
dist1 = self.get_dist(point[0])
dist2 = self.get_dist(point[1])
ratio = dist1/dist2
if ratio > 1.7:
current_gesture = Gest.V_GEST
else:
if self.get_dz([8,12]) < 0.1:
current_gesture = Gest.TWO_FINGER_CLOSED
else:
current_gesture = Gest.MID
else:
current_gesture = self.finger
if current_gesture == self.prev_gesture:
self.frame_count += 1
else:
self.frame_count = 0
self.prev_gesture = current_gesture
if self.frame_count > 4 :
self.ori_gesture = current_gesture
return self.ori_gesture
# Executes commands according to detected gestures
class Controller:
"""
Executes commands according to detected gestures.
Attributes
----------
tx_old : int
previous mouse location x coordinate
ty_old : int
previous mouse location y coordinate
flag : bool
true if V gesture is detected
grabflag : bool
true if FIST gesture is detected
pinchmajorflag : bool
true if PINCH gesture is detected through MAJOR hand,
on x-axis 'Controller.changesystembrightness',
on y-axis 'Controller.changesystemvolume'.
pinchminorflag : bool
true if PINCH gesture is detected through MINOR hand,
on x-axis 'Controller.scrollHorizontal',
on y-axis 'Controller.scrollVertical'.
pinchstartxcoord : int
x coordinate of hand landmark when pinch gesture is started.
pinchstartycoord : int
y coordinate of hand landmark when pinch gesture is started.
pinchdirectionflag : bool
true if pinch gesture movment is along x-axis,
otherwise false
prevpinchlv : int
stores quantized magnitued of prev pinch gesture displacment, from
starting position
pinchlv : int
stores quantized magnitued of pinch gesture displacment, from
starting position
framecount : int
stores no. of frames since 'pinchlv' is updated.
prev_hand : tuple
stores (x, y) coordinates of hand in previous frame.
pinch_threshold : float
step size for quantization of 'pinchlv'.
"""
tx_old = 0
ty_old = 0
trial = True
flag = False
grabflag = False
pinchmajorflag = False
pinchminorflag = False
pinchstartxcoord = None
pinchstartycoord = None
pinchdirectionflag = None
prevpinchlv = 0
pinchlv = 0
framecount = 0
prev_hand = None
pinch_threshold = 0.3
def getpinchylv(hand_result):
"""returns distance beween starting pinch y coord and current hand position y coord."""
dist = round((Controller.pinchstartycoord - hand_result.landmark[8].y)*10,1)
return dist
def getpinchxlv(hand_result):
"""returns distance beween starting pinch x coord and current hand position x coord."""
dist = round((hand_result.landmark[8].x - Controller.pinchstartxcoord)*10,1)
return dist
def changesystembrightness():
"""sets system brightness based on 'Controller.pinchlv'."""
currentBrightnessLv = sbcontrol.get_brightness(display=0)/100.0
currentBrightnessLv += Controller.pinchlv/50.0
if currentBrightnessLv > 1.0:
currentBrightnessLv = 1.0
elif currentBrightnessLv < 0.0:
currentBrightnessLv = 0.0
sbcontrol.fade_brightness(int(100*currentBrightnessLv) , start = sbcontrol.get_brightness(display=0))
def changesystemvolume():
"""sets system volume based on 'Controller.pinchlv'."""
devices = AudioUtilities.GetSpeakers()
interface = devices.Activate(IAudioEndpointVolume._iid_, CLSCTX_ALL, None)
volume = cast(interface, POINTER(IAudioEndpointVolume))
currentVolumeLv = volume.GetMasterVolumeLevelScalar()
currentVolumeLv += Controller.pinchlv/50.0
if currentVolumeLv > 1.0:
currentVolumeLv = 1.0
elif currentVolumeLv < 0.0:
currentVolumeLv = 0.0
volume.SetMasterVolumeLevelScalar(currentVolumeLv, None)
def scrollVertical():
"""scrolls on screen vertically."""
pyautogui.scroll(120 if Controller.pinchlv>0.0 else -120)
def scrollHorizontal():
"""scrolls on screen horizontally."""
pyautogui.keyDown('shift')
pyautogui.keyDown('ctrl')
pyautogui.scroll(-120 if Controller.pinchlv>0.0 else 120)
pyautogui.keyUp('ctrl')
pyautogui.keyUp('shift')
# Locate Hand to get Cursor Position
# Stabilize cursor by Dampening
def get_position(hand_result):
"""
returns coordinates of current hand position.
Locates hand to get cursor position also stabilize cursor by
dampening jerky motion of hand.
Returns
-------
tuple(float, float)
"""
point = 9
position = [hand_result.landmark[point].x ,hand_result.landmark[point].y]
sx,sy = pyautogui.size()
x_old,y_old = pyautogui.position()
x = int(position[0]*sx)
y = int(position[1]*sy)
if Controller.prev_hand is None:
Controller.prev_hand = x,y
delta_x = x - Controller.prev_hand[0]
delta_y = y - Controller.prev_hand[1]
distsq = delta_x**2 + delta_y**2
ratio = 1
Controller.prev_hand = [x,y]
if distsq <= 25:
ratio = 0
elif distsq <= 900:
ratio = 0.07 * (distsq ** (1/2))
else:
ratio = 2.1
x , y = x_old + delta_x*ratio , y_old + delta_y*ratio
return (x,y)
def pinch_control_init(hand_result):
"""Initializes attributes for pinch gesture."""
Controller.pinchstartxcoord = hand_result.landmark[8].x
Controller.pinchstartycoord = hand_result.landmark[8].y
Controller.pinchlv = 0
Controller.prevpinchlv = 0
Controller.framecount = 0
# Hold final position for 5 frames to change status
def pinch_control(hand_result, controlHorizontal, controlVertical):
"""
calls 'controlHorizontal' or 'controlVertical' based on pinch flags,
'framecount' and sets 'pinchlv'.
Parameters
----------
hand_result : Object
Landmarks obtained from mediapipe.
controlHorizontal : callback function assosiated with horizontal
pinch gesture.
controlVertical : callback function assosiated with vertical
pinch gesture.
Returns
-------
None
"""
if Controller.framecount == 5:
Controller.framecount = 0
Controller.pinchlv = Controller.prevpinchlv
if Controller.pinchdirectionflag == True:
controlHorizontal() #x
elif Controller.pinchdirectionflag == False:
controlVertical() #y
lvx = Controller.getpinchxlv(hand_result)
lvy = Controller.getpinchylv(hand_result)
if abs(lvy) > abs(lvx) and abs(lvy) > Controller.pinch_threshold:
Controller.pinchdirectionflag = False
if abs(Controller.prevpinchlv - lvy) < Controller.pinch_threshold:
Controller.framecount += 1
else:
Controller.prevpinchlv = lvy
Controller.framecount = 0
elif abs(lvx) > Controller.pinch_threshold:
Controller.pinchdirectionflag = True
if abs(Controller.prevpinchlv - lvx) < Controller.pinch_threshold:
Controller.framecount += 1
else:
Controller.prevpinchlv = lvx
Controller.framecount = 0
def handle_controls(gesture, hand_result):
"""Impliments all gesture functionality."""
x,y = None,None
if gesture != Gest.PALM :
x,y = Controller.get_position(hand_result)
# flag reset
if gesture != Gest.FIST and Controller.grabflag:
Controller.grabflag = False
pyautogui.mouseUp(button = "left")
if gesture != Gest.PINCH_MAJOR and Controller.pinchmajorflag:
Controller.pinchmajorflag = False
if gesture != Gest.PINCH_MINOR and Controller.pinchminorflag:
Controller.pinchminorflag = False
# implementation
if gesture == Gest.V_GEST:
Controller.flag = True
pyautogui.moveTo(x, y, duration = 0.1)
elif gesture == Gest.FIST:
if not Controller.grabflag :
Controller.grabflag = True
pyautogui.mouseDown(button = "left")
pyautogui.moveTo(x, y, duration = 0.1)
elif gesture == Gest.MID and Controller.flag:
pyautogui.click()
Controller.flag = False
elif gesture == Gest.INDEX and Controller.flag:
pyautogui.click(button='right')
Controller.flag = False
elif gesture == Gest.TWO_FINGER_CLOSED and Controller.flag:
pyautogui.doubleClick()
Controller.flag = False
elif gesture == Gest.PINCH_MINOR:
if Controller.pinchminorflag == False:
Controller.pinch_control_init(hand_result)
Controller.pinchminorflag = True
Controller.pinch_control(hand_result,Controller.scrollHorizontal, Controller.scrollVertical)
elif gesture == Gest.PINCH_MAJOR:
if Controller.pinchmajorflag == False:
Controller.pinch_control_init(hand_result)
Controller.pinchmajorflag = True
Controller.pinch_control(hand_result,Controller.changesystembrightness, Controller.changesystemvolume)
'''
---------------------------------------- Main Class ----------------------------------------
Entry point of Gesture Controller
'''
class GestureController:
"""
Handles camera, obtain landmarks from mediapipe, entry point
for whole program.
Attributes
----------
gc_mode : int
indicates weather gesture controller is running or not,
1 if running, otherwise 0.
cap : Object
object obtained from cv2, for capturing video frame.
CAM_HEIGHT : int
highet in pixels of obtained frame from camera.
CAM_WIDTH : int
width in pixels of obtained frame from camera.
hr_major : Object of 'HandRecog'
object representing major hand.
hr_minor : Object of 'HandRecog'
object representing minor hand.
dom_hand : bool
True if right hand is domaniant hand, otherwise False.
default True.
"""
gc_mode = 0
cap = None
CAM_HEIGHT = None
CAM_WIDTH = None
hr_major = None # Right Hand by default
hr_minor = None # Left hand by default
dom_hand = True
def __init__(self):
"""Initilaizes attributes."""
GestureController.gc_mode = 1
GestureController.cap = cv2.VideoCapture(0)
GestureController.CAM_HEIGHT = GestureController.cap.get(cv2.CAP_PROP_FRAME_HEIGHT)
GestureController.CAM_WIDTH = GestureController.cap.get(cv2.CAP_PROP_FRAME_WIDTH)
def classify_hands(results):
"""
sets 'hr_major', 'hr_minor' based on classification(left, right) of
hand obtained from mediapipe, uses 'dom_hand' to decide major and
minor hand.
"""
left , right = None,None
try:
handedness_dict = MessageToDict(results.multi_handedness[0])
if handedness_dict['classification'][0]['label'] == 'Right':
right = results.multi_hand_landmarks[0]
else :
left = results.multi_hand_landmarks[0]
except:
pass
try:
handedness_dict = MessageToDict(results.multi_handedness[1])
if handedness_dict['classification'][0]['label'] == 'Right':
right = results.multi_hand_landmarks[1]
else :
left = results.multi_hand_landmarks[1]
except:
pass
if GestureController.dom_hand == True:
GestureController.hr_major = right
GestureController.hr_minor = left
else :
GestureController.hr_major = left
GestureController.hr_minor = right
def start(self):
"""
Entry point of whole programm, caputres video frame and passes, obtains
landmark from mediapipe and passes it to 'handmajor' and 'handminor' for
controlling.
"""
handmajor = HandRecog(HLabel.MAJOR)
handminor = HandRecog(HLabel.MINOR)
with mp_hands.Hands(max_num_hands = 2,min_detection_confidence=0.5, min_tracking_confidence=0.5) as hands:
while GestureController.cap.isOpened() and GestureController.gc_mode:
success, image = GestureController.cap.read()
if not success:
print("Ignoring empty camera frame.")
continue
image = cv2.cvtColor(cv2.flip(image, 1), cv2.COLOR_BGR2RGB)
image.flags.writeable = False
results = hands.process(image)
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
if results.multi_hand_landmarks:
GestureController.classify_hands(results)
handmajor.update_hand_result(GestureController.hr_major)
handminor.update_hand_result(GestureController.hr_minor)
handmajor.set_finger_state()
handminor.set_finger_state()
gest_name = handminor.get_gesture()
if gest_name == Gest.PINCH_MINOR:
Controller.handle_controls(gest_name, handminor.hand_result)
else:
gest_name = handmajor.get_gesture()
Controller.handle_controls(gest_name, handmajor.hand_result)
for hand_landmarks in results.multi_hand_landmarks:
mp_drawing.draw_landmarks(image, hand_landmarks, mp_hands.HAND_CONNECTIONS)
else:
Controller.prev_hand = None
cv2.imshow('Gesture Controller', image)
if cv2.waitKey(5) & 0xFF == 13:
break
GestureController.cap.release()
cv2.destroyAllWindows()
# uncomment to run directly
gc1 = GestureController()
gc1.start()