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This approximates the contour of the hand in very roughly (https://imgur.com/a/TtY1WZ4). Effectively, it gives one point on the contour at the tip of every finger and another point in between. Afterwards, one might consider the angles between all three consecutive points and identify finger tips by very small angles. This should be pretty robust and work for many different kinds of hands. For the angle computations, I can recommend the Vector class from the kivy project (https://github.com/kivy/kivy/blob/master/kivy/vector.py). You can just copy and paste the relevant parts.