From c9f3e333a9e73077947f5c5fe31d0e0fdb1c4c6f Mon Sep 17 00:00:00 2001
From: Joakim Eriksson <joakime@sics.se>
Date: Wed, 1 Jul 2020 23:09:46 +0200
Subject: [PATCH 1/2] added python code for tracking hand on webcamera
 videofeed

---
 hand_tracker.py       |  4 ++--
 handtracker_webcam.py | 42 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 44 insertions(+), 2 deletions(-)
 create mode 100644 handtracker_webcam.py

diff --git a/hand_tracker.py b/hand_tracker.py
index c79c73c..8a9bd42 100644
--- a/hand_tracker.py
+++ b/hand_tracker.py
@@ -128,7 +128,7 @@ def detect_hand(self, img_norm):
 
         if candidate_detect.shape[0] == 0:
             print("No hands found")
-            return None, None, None
+            return None, None
         # picking the widest suggestion while NMS is not implemented
         max_idx = np.argmax(candidate_detect[:, 3])
 
@@ -197,4 +197,4 @@ def __call__(self, img):
         kp_orig -= pad[::-1]
         box_orig -= pad[::-1]
         
-        return kp_orig, box_orig
\ No newline at end of file
+        return kp_orig, box_orig
diff --git a/handtracker_webcam.py b/handtracker_webcam.py
new file mode 100644
index 0000000..9d342c0
--- /dev/null
+++ b/handtracker_webcam.py
@@ -0,0 +1,42 @@
+import cv2
+from hand_tracker import HandTracker
+import numpy as np
+
+palm_model_path = "./models/palm_detection.tflite"
+landmark_model_path = "./models/hand_landmark.tflite"
+anchors_path = "./data/anchors.csv"
+
+cap = cv2.VideoCapture(0)
+
+detector = HandTracker(palm_model_path, landmark_model_path, anchors_path,
+                       box_shift=0.2, box_enlarge=1.3)
+
+while True:
+    ret,frame = cap.read()
+    image = frame[:,:,::-1]
+    kp, box = detector(image)
+
+    if kp is None:
+        continue
+
+    clearpoints = [4,8,12,16,20]
+    lk = None
+    p = 0
+
+    # Draw the hand
+    for keypoint in kp:
+        if lk is not None:
+            cv2.line(frame, (int(keypoint[0]),int(keypoint[1])),(int(lk[0]),int(lk[1])), (255,0,255), 2)
+        lk = keypoint
+        cv2.circle(frame, (int(keypoint[0]), int(keypoint[1])), 3, (0,255,255), -1)
+        if p in clearpoints:
+            lk = kp[0]
+        p = p + 1
+
+    # draw the box
+    for i in range(0,4):
+        cv2.line(frame, (int(box[i][0]),int(box[i][1])),(int(box[(i+1)&3][0]),int(box[(i+1)&3][1])), (255,255,255), 2)
+
+    cv2.imshow('frame',frame)
+    if cv2.waitKey(1) & 0xFF == ord('q'):
+        break

From e9347a8ce7f3eacc772443b5b5c51daaf129c66f Mon Sep 17 00:00:00 2001
From: Joakim Eriksson <joakime@sics.se>
Date: Thu, 2 Jul 2020 08:07:01 +0200
Subject: [PATCH 2/2] cleaned up webcamera example, added main and refactored
 drawing of hand and box to functions

---
 handtracker_webcam.py | 52 ++++++++++++++++++++++++++-----------------
 1 file changed, 32 insertions(+), 20 deletions(-)

diff --git a/handtracker_webcam.py b/handtracker_webcam.py
index 9d342c0..efea474 100644
--- a/handtracker_webcam.py
+++ b/handtracker_webcam.py
@@ -1,24 +1,15 @@
+#
+# Basic example of how to use the handtracker using a web camera as input.
+#
+# Author: Joakim Eriksson, joakim.eriksson@ri.se
+#
+
 import cv2
 from hand_tracker import HandTracker
 import numpy as np
 
-palm_model_path = "./models/palm_detection.tflite"
-landmark_model_path = "./models/hand_landmark.tflite"
-anchors_path = "./data/anchors.csv"
-
-cap = cv2.VideoCapture(0)
-
-detector = HandTracker(palm_model_path, landmark_model_path, anchors_path,
-                       box_shift=0.2, box_enlarge=1.3)
-
-while True:
-    ret,frame = cap.read()
-    image = frame[:,:,::-1]
-    kp, box = detector(image)
-
-    if kp is None:
-        continue
-
+def draw_hand(frame, kp):
+    # the points where we go back to the first midpoint of the hand
     clearpoints = [4,8,12,16,20]
     lk = None
     p = 0
@@ -33,10 +24,31 @@
             lk = kp[0]
         p = p + 1
 
+def draw_box(frame, box):
     # draw the box
     for i in range(0,4):
         cv2.line(frame, (int(box[i][0]),int(box[i][1])),(int(box[(i+1)&3][0]),int(box[(i+1)&3][1])), (255,255,255), 2)
 
-    cv2.imshow('frame',frame)
-    if cv2.waitKey(1) & 0xFF == ord('q'):
-        break
+if __name__ == '__main__':
+    palm_model_path = "./models/palm_detection.tflite"
+    landmark_model_path = "./models/hand_landmark.tflite"
+    anchors_path = "./data/anchors.csv"
+
+    cap = cv2.VideoCapture(0)
+
+    detector = HandTracker(palm_model_path, landmark_model_path, anchors_path,
+                           box_shift=0.2, box_enlarge=1.3)
+
+    # Capture video and do the hand-tracking
+    while True:
+        ret,frame = cap.read()
+        image = frame[:,:,::-1]
+        kp, box = detector(image)
+
+        if kp is not None:
+            draw_hand(frame, kp)
+            draw_box(frame, box)
+
+        cv2.imshow('frame',frame)
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break