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‎Python_code.py

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import cv2 #Libreria OpenCV
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import mediapipe as mp #Libreria de mediapipe
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from pyfirmata import Arduino, SERVO #Libreria Firmata
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board = Arduino('com4') # Declarando puerto de arduino DUE
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board.digital[2].mode = SERVO #Pulgar
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board.digital[3].mode = SERVO #Indice
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board.digital[4].mode = SERVO #Mediano
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board.digital[5].mode = SERVO #Anular
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board.digital[6].mode = SERVO #Meñique
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board.digital[7].mode = SERVO #Muñeca
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board.digital[8].mode = SERVO #Pulgar Horizontal
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board.digital[9].mode = SERVO #Indice Horizontal
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board.digital[10].mode = SERVO #Mediano Horizontal
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board.digital[11].mode = SERVO #Anular Horizontal
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board.digital[12].mode = SERVO #Meñique Horizontal
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board.digital[13].mode = SERVO #Muñeca Horizontal
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# Posiciones iniciales de la mano robótica
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board.digital[2].write(179) #Pulgar
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board.digital[3].write(179) #Indice
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board.digital[4].write(179) #Medio
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board.digital[5].write(1) #Anular
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board.digital[6].write(1) #Meñique
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board.digital[7].write(120) #Muñeca
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board.digital[8].write(60) #Pulgar Horizontal
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board.digital[9].write(48) #Indice Horizontal
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board.digital[10].write(75) #Medio Horizontal
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board.digital[11].write(66) #Anular Horizontal
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board.digital[12].write(67) #Meñique Horizontal
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board.digital[13].write(130) #Muñeca Horizontal
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# Dimensiones de la pantalla
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screen_width = 1280
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screen_height = 1024
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# Variables para las herramientas del modelo
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# de la mano de mediapipe
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mp_drawing = mp.solutions.drawing_utils
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mp_hands = mp.solutions.hands
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# Parametros para la salida de video en la pantalla
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hands = mp_hands.Hands(min_detection_confidence=0.7,
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min_tracking_confidence=0.9,
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max_num_hands=1)
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cap = cv2.VideoCapture(2) # Camara Web
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cap.set(3, screen_width)
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cap.set(4, screen_height)
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cap_width = int(cap.get(3))
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cap_height = int(cap.get(4))
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# Variables para operaciones de detección de mano
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no = 1000 #numero de multiplicacion
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new_min = int(1) #valor minimo de servomotores
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new_max = int(179) #valor maximo de servomotores
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while cap.isOpened():
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success, image = cap.read()
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if not success:
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print("No se detecta cámara")
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continue
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# Voltea la imagen inversamente para el reflejo en la pantalla
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# y convierte la imagen BGR a RGB
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image = cv2.cvtColor(cv2.flip(image, 1), cv2.COLOR_BGR2RGB)
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results = hands.process(image)
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image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
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if results.multi_hand_landmarks:
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# Posiciones de los dedos en el eje X y eje Y
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pulgarx = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.THUMB_TIP].x))
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pulgary = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.THUMB_TIP].y))
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indicex = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.INDEX_FINGER_TIP].x))
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indicey = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.INDEX_FINGER_TIP].y))
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mediox = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.MIDDLE_FINGER_TIP].x))
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medioy = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.MIDDLE_FINGER_TIP].y))
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anularx = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.RING_FINGER_TIP].x))
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anulary = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.RING_FINGER_TIP].y))
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meñiquex = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.PINKY_TIP].x))
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meñiquey = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.PINKY_TIP].y))
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muñecax = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.PINKY_MCP].x))
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muñecay = int(no * (results.multi_hand_landmarks[0].landmark[mp_hands.HandLandmark.WRIST].y))
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# Movimiento de muñeca en vertical
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Ny_min = 870
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Ny_max = 730
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Ny = int(((muñecay - Ny_min) / (Ny_max - Ny_min)) * (new_max - new_min) + new_min)
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if Ny >= new_min and Ny <= new_max and muñecax >= 585 and muñecax <= 700:
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board.digital[7].write(Ny)
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# Movimiento de muñeca en horizontal
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Nx_min = 700
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Nx_max = 595
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Nx = int(((muñecax - Nx_min) / (Nx_max - Nx_min)) * (178 - 3) + 3)
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if Nx >= 3 and Nx <= 178:
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board.digital[13].write(Nx)
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# Condicion para efectuar movimientos de la mano robotica
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if muñecay >= 750 and muñecay <= 800 and muñecax >= 485 and muñecax <= 735:
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# Pulgar
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Py_min = int(580)
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Py_max = int(410)
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Py = int(((pulgarx - Py_min) / (Py_max - Py_min)) * (new_max - new_min) + new_min)
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if Py >= new_min and Py <= new_max:
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board.digital[2].write(Py)
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# Indice
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Iy_min = int(600)
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Iy_max = int(300)
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Iy = int(((indicey - Iy_min) / (Iy_max - Iy_min)) * (new_max - new_min) + new_min)
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if Iy >= new_min and Iy <= new_max:
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board.digital[3].write(Iy)
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# Medio
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My_min = int(600)
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My_max = int(240)
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My = int(((medioy - My_min) / (My_max - My_min)) * (new_max - 1) + 1)
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if My >= 1 and My <= new_max:
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board.digital[4].write(My)
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# Anular
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Ay_min = int(280)
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Ay_max = int(620)
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Ay = int(((anulary - Ay_min) / (Ay_max - Ay_min)) * (new_max - new_min) + new_min)
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if Ay >= new_min and Ay <= new_max:
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board.digital[5].write(Ay)
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# Meñique
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Qy_min = int(385)
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Qy_max = int(620)
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Qy = int(((meñiquey - Qy_min) / (Qy_max - Qy_min)) * (new_max - new_min) + new_min)
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if Qy >= new_min and Qy <= new_max:
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board.digital[6].write(Qy)
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# Pulgar Horizontal
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Px_min = int(480)
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Px_max = int(580)
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Px = int(((pulgary - Px_min) / (Px_max - Px_min)) * (155 - 1) + 1)
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if Px >= 1 and Px <= 155:
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board.digital[8].write(Px)
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# Indice Horizontal
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Ix_min = int(460)
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Ix_max = int(560)
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Ix = int(((indicex - Ix_min) / (Ix_max - Ix_min)) * (110 - 60) + 60)
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if Ix >= 60 and Ix <= 110:
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board.digital[9].write(Ix)
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# Medio Horizontal
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Mx_min = int(500)
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Mx_max = int(650)
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Mx = int(((mediox - Mx_min) / (Mx_max - Mx_min)) * (152 - 77) + 77)
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if Mx >= 77 and Mx <= 152:
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board.digital[10].write(Mx)
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# Anular Horizontal
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Ax_min = int(560)
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Ax_max = int(645)
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Ax = int(((anularx - Ax_min) / (Ax_max - Ax_min)) * (90 - 45) + 45)
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if Ax >= 45 and Ax <= 90:
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board.digital[11].write(Ax)
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# Meñique Horizontal
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Qx_min = int(575)
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Qx_max = int(700)
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Qx = int(((meñiquex - Qx_min) / (Qx_max - Qx_min)) * (86 - 20) + 20)
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if Qx >= 20 and Qx <= 86:
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board.digital[12].write(Qx)
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for hand_landmarks in results.multi_hand_landmarks: #Dibujos de los puntos de referencia de la mano en la pantal
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mp_drawing.draw_landmarks(image, hand_landmarks, mp_hands.HAND_CONNECTIONS)
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# Configuración para crear un rectángulo rojo en la pantalla
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cv2.rectangle(image, (500, 150), (900, 580), color=(0, 0, 255), thickness=4)
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cv2.imshow('Detección de gestos de la mano', image)
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if cv2.waitKey(1) & 0xFF == 27:
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break
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hands.close()
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cap.release()

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