update

hand_tracker_app/hand_tracker.py

@@ -1,42 +0,0 @@
-"""Hand Tracker using MediaPipe to detect hand positions in images."""
-
-import cv2
-import mediapipe as mp
-import numpy as np
-
-mp_drawing = mp.solutions.drawing_utils
-mp_drawing_styles = mp.solutions.drawing_styles
-mp_hands = mp.solutions.hands
-
-
-class HandTracker:
-    """Hand Tracker using MediaPipe Hands to detect hand positions."""
-
-    def __init__(self, nb_hands=1):
-        """Initialize the Hand Tracker."""
-        self.hands = mp_hands.Hands(
-            static_image_mode=True, max_num_hands=nb_hands, min_detection_confidence=0.5
-        )
-
-    def get_hands_positions(self, img):
-        """Get the positions of the hands in the image."""
-        img = cv2.flip(img, 1)
-
-        results = self.hands.process(cv2.cvtColor(img, cv2.COLOR_BGR2RGB))
-        if results.multi_hand_landmarks is not None:
-            palm_centers = []
-            for landmarks in results.multi_hand_landmarks:
-                middle_finger_pip_landmark = landmarks.landmark[
-                    mp_hands.HandLandmark.MIDDLE_FINGER_PIP
-                ]
-                palm_center = np.array(
-                    [middle_finger_pip_landmark.x, middle_finger_pip_landmark.y]
-                )
-
-                # Normalize the palm center to the range [-1, 1]
-                # Flip the x-axis
-                palm_center = [-(palm_center[0] - 0.5) * 2, (palm_center[1] - 0.5) * 2]
-                palm_centers.append(palm_center)
-
-            return palm_centers
-        return None

hand_tracker_app/main.py

@@ -13,7 +13,7 @@ import numpy as np
 from reachy_mini import ReachyMini, ReachyMiniApp
 from scipy.spatial.transform import Rotation as R
 
-from hand_tracker_app.hand_tracker import HandTracker
+from reachy_mini_toolbox.vision.hand_tracker import HandTracker
 
 gui = False  # Set to True if you want to use the GUI for debugging
 

pyproject.toml

@@ -12,7 +12,7 @@ requires-python = ">=3.8"
 # dependencies = ["reachy-mini"]
 dependencies = [
     "reachy-mini",
-    "reachy-mini-toolbox[vision]>=1.0.1"
+    "reachy-mini-toolbox[vision]>=1.1.1"
 ]
 
 [project.entry-points."reachy_mini_apps"]