camserial_1.py

import cv2
import numpy as np
import math
import time
import serial
cap = cv2.VideoCapture(0)
ser = serial.Serial('COM4', 9600)


while(1):

    try: 
        ret, frame = cap.read()
        frame=cv2.flip(frame,1)
        kernel = np.ones((3,3),np.uint8)
        
        #define region of interest
        roi=frame[50:350, 50:350]
        
        
        cv2.rectangle(frame,(50,50),(350,350),(0,255,0),0)    
        hsv = cv2.cvtColor(roi, cv2.COLOR_BGR2HSV)
        
        
         
    # define range of skin color in HSV
        lower_skin = np.array([0,30,70], dtype=np.uint8)
        upper_skin = np.array([20,255,255], dtype=np.uint8)
        
   
        mask = cv2.inRange(hsv, lower_skin, upper_skin)
        mask = cv2.erode(mask,kernel,iterations = 2)
        mask = cv2.dilate(mask,kernel,iterations = 4)
        
        mask = cv2.GaussianBlur(mask,(5,5),100) 
        
        
        
    #find contours
        _,contours,hierarchy= cv2.findContours(mask,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
    
   #find contour of max area(hand)
        cnt = max(contours, key = lambda x: cv2.contourArea(x))
        
    #approx the contour a little
        epsilon = 0.0005*cv2.arcLength(cnt,True)
        approx= cv2.approxPolyDP(cnt,epsilon,True)
       
        
    #make convex hull around hand
        hull = cv2.convexHull(cnt)
        
     
    
     #find the defects in convex hull with respect to hand
        hull = cv2.convexHull(approx, returnPoints=False)
        defects = cv2.convexityDefects(approx, hull)
        
    # l = no. of defects
        l=0
        
    #code for finding no. of defects due to fingers
        for i in range(defects.shape[0]):
            s,e,f,d = defects[i,0]
            start = tuple(approx[s][0])
            end = tuple(approx[e][0])
            far = tuple(approx[f][0])
            pt= (100,180)
            
            
            # find length of all sides of triangle
            a = math.sqrt((end[0] - start[0])**2 + (end[1] - start[1])**2)
            b = math.sqrt((far[0] - start[0])**2 + (far[1] - start[1])**2)
            c = math.sqrt((end[0] - far[0])**2 + (end[1] - far[1])**2)
            s = (a+b+c)/2
            ar = math.sqrt(s*(s-a)*(s-b)*(s-c))
            
 
            
            # apply cosine rule here
            angle = math.acos((b**2 + c**2 - a**2)/(2*b*c)) * 57
            
        
            # ignore angles > 90 and ignore points very close to convex hull(they generally come due to noise)
            if angle <= 90:
                l += 1
                cv2.circle(roi, far, 3, [255,0,0], -1)
            
            #draw lines around hand
            cv2.line(roi,start, end, [0,255,0], 2)
            
            
        l+=1
        
       
        font = cv2.FONT_HERSHEY_SIMPLEX
        if l==1:
        
        
            cv2.putText(frame,'1',(0,50), font, 2, (0,0,255), 3, cv2.LINE_AA)                
            ser.write('1')
            time.sleep(1)
        elif l==2:
            cv2.putText(frame,'2',(0,50), font, 2, (0,0,255), 3, cv2.LINE_AA)
            ser.write('1')
            
        elif l==3:
         
            cv2.putText(frame,'3',(0,50), font, 2, (0,0,255), 3, cv2.LINE_AA)
            #ser.write('1')
            
        elif l==4:
            cv2.putText(frame,'4',(0,50), font, 2, (0,0,255), 3, cv2.LINE_AA)
            ser.write('5')
            time.sleep(1)
        elif l==5:
            cv2.putText(frame,'5',(0,50), font, 2, (0,0,255), 3, cv2.LINE_AA)
            #ser.write('5')
            
        else :
            cv2.putText(frame,'Out of range',(10,50), font, 2, (0,0,255), 3, cv2.LINE_AA)
            #ser.write('1')


            
        #show the windows
        cv2.imshow('mask',mask)
        cv2.imshow('frame',frame)
    except:
        pass
        
    
    k = cv2.waitKey(10) & 0xFF
    if k == 27:
        break
    
cv2.destroyAllWindows()
cap.release()