mount versions of pose-detectors combined

gesture_control/arm_control.py

@@ -1,262 +1,324 @@
-# gesture_control/arm_control.py
 import numpy as np
 import cv2
 
-class ArmController:
+
+def _clip_unit(v):
+    return float(np.clip(v, -1.0, 1.0))
+
+
+def _apply_dead_zone(v, dz):
+    return 0.0 if abs(v) < dz else v
+
+
+def _robust_metrics(landmarks, min_conf=0.5):
+    """
+    Compute shoulder_center, shoulder_width, torso_height robustly.
+    Uses hips if available; otherwise falls back to nose/shoulder geometry.
+
+    Returns:
+        shoulder_center (np.array shape (2,))
+        shoulder_width (float)
+        torso_height (float)
+        ok (bool)
+    """
+    def pt(i):
+        return np.array(landmarks[i][:2], dtype=float), float(landmarks[i][3])
+
+    l_sh, c_lsh = pt(11)
+    r_sh, c_rsh = pt(12)
+    if c_lsh < min_conf or c_rsh < min_conf:
+        return None, 0.0, 0.0, False
+
+    shoulder_center = (l_sh + r_sh) / 2.0
+    shoulder_width = float(np.linalg.norm(r_sh - l_sh))
+    if shoulder_width < 1e-3:
+        return shoulder_center, 0.0, 0.0, False
+
+    # Try hips
+    l_hip, c_lhip = pt(23)
+    r_hip, c_rhip = pt(24)
+
+    if c_lhip >= min_conf and c_rhip >= min_conf:
+        hip_center = (l_hip + r_hip) / 2.0
+        torso_height = float(np.linalg.norm(hip_center - shoulder_center))
+        if torso_height >= 1e-3:
+            return shoulder_center, shoulder_width, torso_height, True
+
+    # Fallbacks (upper-body only)
+    nose, c_nose = pt(0)
+    if c_nose >= min_conf:
+        nose_to_shoulder = abs(nose[1] - shoulder_center[1])
+        torso_height = max(1.6 * nose_to_shoulder, 0.9 * shoulder_width)
+    else:
+        torso_height = max(1.2 * shoulder_width, 1.0)
+
+    return shoulder_center, shoulder_width, float(torso_height), True
+
+
+class ArmControllerMethod1:
+    """
+    Method 1: Single-hand driving with right wrist.
+    - Linear: vertical offset of right wrist from shoulder center (normalized by torso height)
+    - Angular: horizontal offset of right wrist from shoulder center (normalized by shoulder width)
+    """
     def __init__(self, config, mirror=False):
-        """
-        Wrist-only controller using pose landmarks (indices 15 and 16).
-        Behavior:
-          - RIGHT wrist controls motion.
-          - EXTINGUISHING only when BOTH wrists are visible AND BOTH are inside the TOP-CENTER rectangle:
-                y < H/3 AND w/3 <= x <= 2w/3
-          - Otherwise:
-              * If RIGHT wrist visible -> 'move'
-              * If no RIGHT wrist -> 'stop'
-        """
         self.config = config
         self.mirror = mirror
-
+        self.dead_zone = config.get('dead_zone', 0.1)
-        self.dead_zone = config.get('dead_zone', 0.15)
         self.debug = config.get('debug', False)
+        self.min_conf = config.get('min_conf', 0.5)
 
-        # UI speeds in 0..100; used to map from wrist offset to final robot speeds
+    def compute_speeds(self, landmarks, frame_shape=None):
-        self.max_speed = config.get('max_speed', 100)
+        if landmarks is None:
-
-        # Robot kinematics limits
-        self.max_speed_linear = config.get('max_speed_linear', 0.8)
-        self.max_speed_angular = config.get('max_speed_angular', 1.5)
-
-        self.screen_width = config.get('screen_width', 640)
-        self.screen_height = config.get('screen_height', 480)
-
-    def update_frame_size(self, w, h):
-        self.screen_width = int(w)
-        self.screen_height = int(h)
-
-    def _get_wrist_index(self, side):
-        """
-        Wrist indices (MediaPipe Pose):
-          - left wrist: 15
-          - right wrist: 16
-        With mirror=True, interpret 'left'/'right' as in mirrored preview.
-        """
-        if self.mirror:
-            return 16 if side == 'left' else 15
-        else:
-            return 15 if side == 'left' else 16
-
-    def _get_wrist_position(self, landmarks, side):
-        """
-        Return (x, y) of the requested wrist, or None if not visible.
-        Only wrist landmarks are used; all other landmarks are ignored.
-        """
-        idx = self._get_wrist_index(side)
-        if idx >= len(landmarks):
-            return None
-        # If visibility exists (4th value), require >= 0.5
-        if len(landmarks[idx]) >= 4 and landmarks[idx][3] < 0.5:
-            return None
-        x = float(landmarks[idx][0])
-        y = float(landmarks[idx][1])
-        return x, y
-
-    def _in_top_center_section(self, x, y):
-        """
-        Top-center rectangle:
-          - y in [0, H/3)
-          - x in [W/3, 2W/3)
-        """
-        w_third = self.screen_width / 3.0
-        h_third = self.screen_height / 3.0
-        return (y < h_third) and (x >= w_third) and (x < 2.0 * w_third)
-
-    def _both_wrists_in_top_center(self, landmarks):
-        """
-        Returns True only if BOTH wrists are visible AND both are inside the top-center rectangle.
-        """
-        lw = self._get_wrist_position(landmarks, 'left')
-        rw = self._get_wrist_position(landmarks, 'right')
-        if lw is None or rw is None:
-            return False
-        return self._in_top_center_section(lw[0], lw[1]) and self._in_top_center_section(rw[0], rw[1])
-
-    def _scale_speed(self, norm_offset):
-        """
-        norm_offset is in [0..1].
-        Convert from [dead_zone..1] to [0..1], then scale to 0..max_speed.
-        """
-        eff = (norm_offset - self.dead_zone) / (1.0 - self.dead_zone)
-        eff = np.clip(eff, 0.0, 1.0)
-        return round(eff * self.max_speed)
-
-    def _compute_speeds(self, x, y):
-        """
-        Compute directions and 0..100 speeds from a wrist position relative to screen center.
-        Returns (h_dir, h_speed, v_dir, v_speed)
-          - h_dir: 'left' | 'right' | 'center'
-          - v_dir: 'up' | 'down' | 'center'
-        """
-        cx = self.screen_width / 2.0
-        cy = self.screen_height / 2.0
-
-        # Normalize offset: -1..1
-        dx = (x - cx) / (self.screen_width / 2.0)
-        dy = (y - cy) / (self.screen_height / 2.0)
-        dx = float(np.clip(dx, -1.0, 1.0))
-        dy = float(np.clip(dy, -1.0, 1.0))
-
-        # Horizontal
-        if abs(dx) < self.dead_zone:
-            h_dir, h_speed = 'center', 0
-        elif dx > 0:
-            h_dir = 'right'
-            h_speed = self._scale_speed(abs(dx))
-        else:
-            h_dir = 'left'
-            h_speed = self._scale_speed(abs(dx))
-
-        # Vertical (image y grows down; up is dy < 0)
-        if abs(dy) < self.dead_zone:
-            v_dir, v_speed = 'center', 0
-        elif dy < 0:
-            v_dir = 'up'
-            v_speed = self._scale_speed(abs(dy))
-        else:
-            v_dir = 'down'
-            v_speed = self._scale_speed(abs(dy))
-
-        return h_dir, h_speed, v_dir, v_speed
-
-    def get_command(self, landmarks):
-        """
-        Logic:
-          - If BOTH wrists are visible AND BOTH are inside the top-center rectangle (the 'UP' section)
-                -> {'command': 'extinguishing fire'}
-          - Else if RIGHT wrist is visible -> {'command': 'move', ...} using RIGHT wrist position
-          - Else -> {'command': 'stop'}
-        """
-        if self._both_wrists_in_top_center(landmarks):
-            if self.debug:
-                print("Two wrists in TOP-CENTER ('UP' section) -> EXTINGUISHING FIRE")
-            return {'command': 'extinguishing fire'}
-
-        # Otherwise, control with RIGHT wrist only
-        right_wrist = self._get_wrist_position(landmarks, 'right')
-        if right_wrist is not None:
-            x, y = right_wrist
-            h_dir, h_speed, v_dir, v_speed = self._compute_speeds(x, y)
-            return {
-                'command': 'move',
-                'x': x, 'y': y,
-                'h_dir': h_dir, 'h_speed': h_speed,
-                'v_dir': v_dir, 'v_speed': v_speed,
-            }
-
-        return {'command': 'stop'}
-
-    def to_linear_angular(self, cmd):
-        """
-        Convert a 'move' command (0..100 UI speeds) to robot linear/angular velocities.
-
-        Mapping:
-          - Vertical axis controls linear velocity: up -> +linear (forward), down -> -linear (backward)
-          - Horizontal axis controls angular velocity: left -> +angular (CCW), right -> -angular (CW)
-        """
-        if cmd.get('command') != 'move':
             return 0.0, 0.0
 
-        v_dir, v_speed = cmd['v_dir'], float(cmd['v_speed'])
+        # Require: shoulders + right wrist
-        h_dir, h_speed = cmd['h_dir'], float(cmd['h_speed'])
+        need = [11, 12, 16]
+        if any(landmarks[i][3] < self.min_conf for i in need):
+            return 0.0, 0.0
 
-        # Normalize speeds to 0..1
+        shoulder_center, shoulder_width, torso_height, ok = _robust_metrics(landmarks, self.min_conf)
-        v_norm = v_speed / float(self.max_speed) if self.max_speed > 0 else 0.0
+        if not ok or shoulder_width < 1e-3 or torso_height < 1e-3:
-        h_norm = h_speed / float(self.max_speed) if self.max_speed > 0 else 0.0
+            return 0.0, 0.0
 
-        # Linear: forward/backward
+        r_wr = landmarks[16][:2]
-        if v_dir == 'up':
+
-            linear = +v_norm * self.max_speed_linear
+        # Positive linear when wrist above shoulder center (forward)
-        elif v_dir == 'down':
+        linear = (shoulder_center[1] - r_wr[1]) / torso_height
-            linear = -v_norm * self.max_speed_linear
+        # Positive angular when wrist to the right of shoulder center
+        angular = (r_wr[0] - shoulder_center[0]) / shoulder_width
+
+        if self.mirror:
+            angular = -angular
+
+        linear = _clip_unit(_apply_dead_zone(linear, self.dead_zone))
+        angular = _clip_unit(_apply_dead_zone(angular, self.dead_zone))
+
+        if self.debug:
+            print(f"[M1] L:{linear:.2f} A:{angular:.2f}")
+        return linear, angular
+
+    def draw_overlay(self, frame, landmarks=None):
+        if frame is None:
+            return frame
+        h, w = frame.shape[:2]
+        # Draw center cross (screen center approximation)
+        cv2.line(frame, (w // 2, 0), (w // 2, h), (0, 0, 0), 1)
+        cv2.line(frame, (0, h // 2), (w, h // 2), (0, 0, 0), 1)
+        # Draw right wrist
+        if landmarks is not None and landmarks[16][3] > 0.5:
+            x, y = int(landmarks[16][0]), int(landmarks[16][1])
+            cv2.circle(frame, (x, y), 8, (0, 255, 255), -1)
+        return frame
+
+
+class ArmControllerMethod2:
+    """
+    Method 2: Two-hand blended control.
+    - Linear: average vertical offset of both wrists from shoulder center (normalized by torso height)
+    - Angular: horizontal balance of wrists around shoulder center (normalized by shoulder width)
+    """
+    def __init__(self, config, mirror=False):
+        self.config = config
+        self.mirror = mirror
+        self.dead_zone = config.get('dead_zone', 0.1)
+        self.debug = config.get('debug', False)
+        self.min_conf = config.get('min_conf', 0.5)
+
+    def compute_speeds(self, landmarks, frame_shape=None):
+        if landmarks is None:
+            return 0.0, 0.0
+
+        # Require: shoulders + both wrists
+        need = [11, 12, 15, 16]
+        if any(landmarks[i][3] < self.min_conf for i in need):
+            return 0.0, 0.0
+
+        shoulder_center, shoulder_width, torso_height, ok = _robust_metrics(landmarks, self.min_conf)
+        if not ok or shoulder_width < 1e-3 or torso_height < 1e-3:
+            return 0.0, 0.0
+
+        l_wr = landmarks[15][:2]
+        r_wr = landmarks[16][:2]
+
+        # Linear: average elevation of both wrists
+        lin_l = (shoulder_center[1] - l_wr[1]) / torso_height
+        lin_r = (shoulder_center[1] - r_wr[1]) / torso_height
+        linear = 0.5 * (lin_l + lin_r)
+
+        # Angular: horizontal balance
+        ang = ((r_wr[0] - shoulder_center[0]) - (shoulder_center[0] - l_wr[0])) / shoulder_width
+        angular = ang
+
+        if self.mirror:
+            angular = -angular
+
+        linear = _clip_unit(_apply_dead_zone(linear, self.dead_zone))
+        angular = _clip_unit(_apply_dead_zone(angular, self.dead_zone))
+
+        if self.debug:
+            print(f"[M2] L:{linear:.2f} A:{angular:.2f}")
+        return linear, angular
+
+    def draw_overlay(self, frame, landmarks=None):
+        if frame is None:
+            return frame
+        if landmarks is not None:
+            for idx, color in [(15, (255, 0, 255)), (16, (0, 255, 255))]:
+                if landmarks[idx][3] > 0.5:
+                    x, y = int(landmarks[idx][0]), int(landmarks[idx][1])
+                    cv2.circle(frame, (x, y), 8, color, -1)
+        return frame
+
+
+class ArmControllerMethod3:
+    """
+    Method 3: Elbow-augmented control.
+    - Linear: average vertical offset of elbows (normalized by torso height)
+    - Angular: wrist horizontal balance (normalized by shoulder width)
+    """
+    def __init__(self, config, mirror=False):
+        self.config = config
+        self.mirror = mirror
+        self.dead_zone = config.get('dead_zone', 0.1)
+        self.debug = config.get('debug', False)
+        self.min_conf = config.get('min_conf', 0.5)
+
+    def compute_speeds(self, landmarks, frame_shape=None):
+        if landmarks is None:
+            return 0.0, 0.0
+
+        # Require shoulders; prefer elbows for linear; wrists for angular.
+        need_base = [11, 12]
+        if any(landmarks[i][3] < self.min_conf for i in need_base):
+            return 0.0, 0.0
+
+        elbows_ok = (landmarks[13][3] >= self.min_conf and landmarks[14][3] >= self.min_conf)
+        wrists_ok = (landmarks[15][3] >= self.min_conf and landmarks[16][3] >= self.min_conf)
+
+        if not elbows_ok and not wrists_ok:
+            return 0.0, 0.0
+
+        shoulder_center, shoulder_width, torso_height, ok = _robust_metrics(landmarks, self.min_conf)
+        if not ok or shoulder_width < 1e-3 or torso_height < 1e-3:
+            return 0.0, 0.0
+
+        # Linear: prefer elbows, fallback to wrists average if elbows missing
+        if elbows_ok:
+            l_el = landmarks[13][:2]
+            r_el = landmarks[14][:2]
+            lin_l = (shoulder_center[1] - l_el[1]) / torso_height
+            lin_r = (shoulder_center[1] - r_el[1]) / torso_height
+            linear = 0.5 * (lin_l + lin_r)
         else:
-            linear = 0.0
+            l_wr = landmarks[15][:2]
+            r_wr = landmarks[16][:2]
+            lin_l = (shoulder_center[1] - l_wr[1]) / torso_height
+            lin_r = (shoulder_center[1] - r_wr[1]) / torso_height
+            linear = 0.5 * (lin_l + lin_r)
 
-        # Angular: left/right
+        # Angular: use wrists if available, else 0
-        # Convention: left turn -> +angular, right turn -> -angular
+        if wrists_ok:
-        if h_dir == 'left':
+            l_wr = landmarks[15][:2]
-            angular = +h_norm * self.max_speed_angular
+            r_wr = landmarks[16][:2]
-        elif h_dir == 'right':
+            angular = ((r_wr[0] + l_wr[0]) - 2 * shoulder_center[0]) / shoulder_width
-            angular = -h_norm * self.max_speed_angular
         else:
             angular = 0.0
 
-        return float(linear), float(angular)
+        if self.mirror:
+            angular = -angular
 
-    def draw_hands(self, frame, landmarks):
+        linear = _clip_unit(_apply_dead_zone(linear, self.dead_zone))
-        """
+        angular = _clip_unit(_apply_dead_zone(angular, self.dead_zone))
-        Overlay control UI on the frame.
-        - Shows 3x3 grid.
-        - Extinguish only when both wrists are in the TOP-CENTER rectangle (the 'UP' section).
-        - Otherwise, RIGHT wrist controls motion.
-        """
-        cmd = self.get_command(landmarks)
-        w, h = self.screen_width, self.screen_height
-
-        # 3x3 grid
-        grid_color = (200, 200, 200)
-        cv2.line(frame, (w // 3, 0), (w // 3, h), grid_color, 1)
-        cv2.line(frame, (2 * w // 3, 0), (2 * w // 3, h), grid_color, 1)
-        cv2.line(frame, (0, h // 3), (w, h // 3), grid_color, 1)
-        cv2.line(frame, (0, 2 * h // 3), (w, 2 * h // 3), grid_color, 1)
-
-        # Highlight the top-center rectangle (UP section)
-        x1, x2 = int(w / 3.0), int(2 * w / 3.0)
-        y2 = int(h / 3.0)
-        overlay = frame.copy()
-        cv2.rectangle(overlay, (x1, 0), (x2, y2), (0, 165, 255), -1)  # orange overlay
-        cv2.addWeighted(overlay, 0.10, frame, 0.90, 0, frame)
-
-        # Center dot
-        cv2.circle(frame, (w // 2, h // 2), 6, (255, 255, 255), -1)
-
-        # Draw detected wrist points for feedback (if available)
-        lw = self._get_wrist_position(landmarks, 'left')
-        rw = self._get_wrist_position(landmarks, 'right')
-        if lw is not None:
-            cv2.circle(frame, (int(lw[0]), int(lw[1])), 10, (255, 0, 0), -1)  # left: blue
-        if rw is not None:
-            cv2.circle(frame, (int(rw[0]), int(rw[1])), 10, (0, 255, 0), -1)  # right: green
-
-        if cmd['command'] == 'stop':
-            cv2.putText(frame, "COMMAND: STOP", (20, 40),
-                        cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 0, 255), 3)
-            if self.debug:
-                print("COMMAND: stop")
-            return frame
-
-        if cmd['command'] == 'extinguishing fire':
-            cv2.putText(frame, "EXTINGUISHING FIRE (2 WRISTS IN TOP-CENTER 'UP' SECTION)", (20, 40),
-                        cv2.FONT_HERSHEY_SIMPLEX, 0.75, (0, 165, 255), 2)
-            if self.debug:
-                print("COMMAND: extinguishing fire (two wrists in top-center section)")
-            return frame
-
-        # command == move (right wrist visible)
-        x, y = int(cmd['x']), int(cmd['y'])
-        cv2.circle(frame, (x, y), 12, (0, 255, 0), -1)
-
-        # Vector from center to wrist
-        cv2.line(frame, (w // 2, h // 2), (x, y), (0, 255, 0), 2)
-
-        v_dir, v_speed = cmd['v_dir'], cmd['v_speed']
-        h_dir, h_speed = cmd['h_dir'], cmd['h_speed']
-
-        cv2.putText(frame, f"V: {v_dir.upper()} {v_speed}", (20, 40),
-                    cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 255), 2)
-        cv2.putText(frame, f"H: {h_dir.upper()} {h_speed}", (20, 75),
-                    cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 255), 2)
 
         if self.debug:
-            print(f"V: {v_dir} {v_speed} | H: {h_dir} {h_speed}")
+            print(f"[M3] L:{linear:.2f} A:{angular:.2f}")
+        return linear, angular
+
+    def draw_overlay(self, frame, landmarks=None):
+        if frame is None:
+            return frame
+        if landmarks is not None:
+            for idx, color in [(13, (0, 200, 0)), (14, (0, 200, 0)), (15, (0, 255, 255)), (16, (255, 0, 255))]:
+                if landmarks[idx][3] > 0.5:
+                    x, y = int(landmarks[idx][0]), int(landmarks[idx][1])
+                    cv2.circle(frame, (x, y), 6, color, -1)
+        return frame
+
+
+class ArmControllerMethod4:
+    """
+    Method 4: 3x3 grid based on landmark 19 (right index finger tip).
+    Screen split at 2/5 and 3/5 (both axes). Center band = 0.
+    Proportional speed away from the center bands.
+    """
+    def __init__(self, config, mirror=False):
+        self.config = config
+        self.mirror = mirror
+        self.finger_idx = 19  # right index finger tip
+        self.debug = config.get('debug', False)
+
+    def compute_speeds(self, landmarks, frame_shape=None):
+        linear = 0.0
+        angular = 0.0
+
+        if frame_shape is None or landmarks is None:
+            return 0.0, 0.0
+        if landmarks[self.finger_idx][3] < 0.5:
+            return 0.0, 0.0
+
+        h, w = int(frame_shape[0]), int(frame_shape[1])
+        x = landmarks[self.finger_idx][0]
+        y = landmarks[self.finger_idx][1]
+
+        # Angular (horizontal): center band 2/5..3/5 = 0
+        if 2 * w / 5 <= x <= 3 * w / 5:
+            angular = 0.0
+        elif x > 3 * w / 5:
+            angular = (x * 5) / (2 * w) - 1
+        else:
+            angular = (x - 3 * w / 5) / (2 * w / 5)
+
+        # Linear (vertical): center band 2/5..3/5 = 0
+        if 2 * h / 5 <= y <= 3 * h / 5:
+            linear = 0.0
+        elif y > 3 * h / 5:
+            linear = -((y * 5) / (2 * h) - 1)
+        else:
+            linear = -(y - 3 * h / 5) / (2 * h / 5)
+
+        if self.mirror:
+            angular = -angular
+
+        if self.debug:
+            print(f"[M4] L:{linear:.2f} A:{angular:.2f}")
+        return _clip_unit(linear), _clip_unit(angular)
+
+    def draw_overlay(self, frame, landmarks=None):
+        if frame is None:
+            return frame
+
+        h, w = frame.shape[:2]
+        x1, x2 = int(w * 2 / 5), int(w * 3 / 5)
+        y1, y2 = int(h * 2 / 5), int(h * 3 / 5)
+
+        # Grid lines
+        cv2.line(frame, (x1, 0), (x1, h), (0, 0, 0), 2)
+        cv2.line(frame, (x2, 0), (x2, h), (0, 0, 0), 2)
+        cv2.line(frame, (0, y1), (w, y1), (0, 0, 0), 2)
+        cv2.line(frame, (0, y2), (w, y2), (0, 0, 0), 2)
+
+        # Highlight active cell + finger
+        if landmarks is not None and landmarks[self.finger_idx][3] > 0.5:
+            fx, fy = int(landmarks[self.finger_idx][0]), int(landmarks[self.finger_idx][1])
+            cx0, cx1 = (0, x1) if fx < x1 else ((x2, w) if fx > x2 else (x1, x2))
+            cy0, cy1 = (0, y1) if fy < y1 else ((y2, h) if fy > y2 else (y1, y2))
+
+            overlay = frame.copy()
+            cv2.rectangle(overlay, (cx0, cy0), (cx1, cy1), (0, 255, 255), -1)
+            frame = cv2.addWeighted(overlay, 0.2, frame, 0.8, 0)
+
+            cv2.circle(frame, (fx, fy), 8, (0, 255, 255), -1)
+            cv2.circle(frame, (fx, fy), 12, (0, 120, 120), 2)
 
         return frame

gesture_control/special_gestures.py

@@ -1,82 +1,131 @@
 import numpy as np
 
+
 class SpecialGestureDetector:
-    def __init__(self, mode='geometric', model_path=None, class_names=None):
+    """
+    Detects special static gestures using either simple geometric rules or an ML classifier.
+
+    Supported gesture labels:
+      - 'cross' : forearms crossed near the chest
+      - 'light' : right arm pose approximating a 'light' toggle
+      - 'dome'  : arms forming a dome above the head
+      - 'none'  : no special gesture detected
+    """
+
+    def __init__(self, mode='geometric', model_path=None, class_names=None, debug=False, thresholds=None):
         self.mode = mode
+        self.debug = debug
+
+        # Defaults for geometric detection
+        self.th = {
+            'min_conf': 0.5,
+            'shoulder_width_min': 30.0,
+            'torso_height_min': 10.0,
+            'chest_band': 0.25,         # widened to be more forgiving
+            'wrists_near_factor': 0.6,  # relaxed for dome
+            'elbow_far_factor': 0.9,    # relaxed for dome
+            'light_elbow_min': 45.0,
+            'light_elbow_max': 120.0,
+            'light_shoulder_min': -5.0,
+            'light_shoulder_max': 20.0
+        }
+        if thresholds:
+            self.th.update(thresholds)
+
         if mode == 'ml':
             from ml_gestures.predict import MLGesturePredictor
             if model_path is None or class_names is None:
-                raise ValueError("Для ML нужны model_path и class_names")
+                raise ValueError("For ML mode, provide model_path and class_names")
             self.ml_predictor = MLGesturePredictor(model_path, class_names)
-            print("Использую статический ML классификатор")
+            if self.debug:
+                print("SpecialGestureDetector: Using ML classifier")
         else:
             self.ml_predictor = None
-            print("Использую геометрические отношения для детекции специальных жестов")
+            if self.debug:
-        self.debug = False # Включите для отладки
+                print("SpecialGestureDetector: Using geometric rules")
 
     def predict(self, landmarks):
+        if landmarks is None:
+            return 'none'
         if self.mode == 'geometric':
             return self._geometric_predict(landmarks)
         else:
             return self.ml_predictor.predict(landmarks)
 
     def _geometric_predict(self, landmarks):
-        # Индексы MediaPipe
         idx = {
             'nose': 0,
-            'left_shoulder': 11,
+            'left_shoulder': 11, 'right_shoulder': 12,
-            'right_shoulder': 12,
+            'left_elbow': 13, 'right_elbow': 14,
-            'left_elbow': 13,
+            'left_wrist': 15, 'right_wrist': 16,
-            'right_elbow': 14,
+            'left_hip': 23, 'right_hip': 24,
-            'left_wrist': 15,
-            'right_wrist': 16,
-            'left_hip': 23,
-            'right_hip': 24,
         }
 
-        # Повышенный порог уверенности для специальных жестов
+        min_conf = self.th['min_conf']
-        min_conf = 0.5
+        # Only upper-body required (hips optional)
-        required = ['left_shoulder', 'right_shoulder', 'left_elbow', 'right_elbow',
+        required = [
-                    'left_wrist', 'right_wrist', 'nose']
+            'left_shoulder', 'right_shoulder',
+            'left_elbow', 'right_elbow',
+            'left_wrist', 'right_wrist',
+            'nose'
+        ]
         for p in required:
             if landmarks[idx[p]][3] < min_conf:
                 if self.debug:
-                    print(f"{p} low confidence")
+                    print(f"[SG] Low confidence for {p}: {landmarks[idx[p]][3]:.2f}")
                 return 'none'
 
-        # Координаты (x, y)
+        l_sh = np.array(landmarks[idx['left_shoulder']][:2], dtype=float)
-        l_sh = landmarks[idx['left_shoulder']][:2]
+        r_sh = np.array(landmarks[idx['right_shoulder']][:2], dtype=float)
-        r_sh = landmarks[idx['right_shoulder']][:2]
+        l_el = np.array(landmarks[idx['left_elbow']][:2], dtype=float)
-        l_el = landmarks[idx['left_elbow']][:2]
+        r_el = np.array(landmarks[idx['right_elbow']][:2], dtype=float)
-        r_el = landmarks[idx['right_elbow']][:2]
+        l_wr = np.array(landmarks[idx['left_wrist']][:2], dtype=float)
-        l_wr = landmarks[idx['left_wrist']][:2]
+        r_wr = np.array(landmarks[idx['right_wrist']][:2], dtype=float)
-        r_wr = landmarks[idx['right_wrist']][:2]
+        nose = np.array(landmarks[idx['nose']][:2], dtype=float)
-        l_hip = landmarks[idx['left_hip']][:2]
-        r_hip = landmarks[idx['right_hip']][:2]
-        nose = np.array(landmarks[idx['nose']][:2])
 
-        shoulder_center_y = (l_sh[1] + r_sh[1]) / 2
+        l_hip = np.array(landmarks[idx['left_hip']][:2], dtype=float)
-        hip_center_y = (l_hip[1] + r_hip[1]) / 2
+        r_hip = np.array(landmarks[idx['right_hip']][:2], dtype=float)
-        torso_height = hip_center_y - shoulder_center_y
+        c_lhip = landmarks[idx['left_hip']][3]
+        c_rhip = landmarks[idx['right_hip']][3]
+
+        shoulder_center_y = (l_sh[1] + r_sh[1]) / 2.0
         shoulder_width = np.linalg.norm(r_sh - l_sh)
-        if shoulder_width < 30 or torso_height < 10:
+        if shoulder_width < self.th['shoulder_width_min']:
+            if self.debug:
+                print(f"[SG] Shoulder width too small: {shoulder_width:.1f}")
             return 'none'
 
-        # ---- Вспомогательные функции ----
+        # Torso height: prefer hips if visible, otherwise fallback using nose/shoulders
-        def angle_between_vectors(v1, v2):
+        if c_lhip >= min_conf and c_rhip >= min_conf:
-            """Угол между двумя векторами в градусах (0..180)"""
+            hip_center_y = (l_hip[1] + r_hip[1]) / 2.0
-            cos_a = np.dot(v1, v2) / (np.linalg.norm(v1) * np.linalg.norm(v2) + 1e-6)
+            torso_height = hip_center_y - shoulder_center_y
-            return np.arccos(np.clip(cos_a, -1.0, 1.0)) * 180 / np.pi
+        else:
+            nose_to_shoulder = abs(nose[1] - shoulder_center_y)
+            torso_height = max(1.6 * nose_to_shoulder, 0.9 * shoulder_width)
+            hip_center_y = shoulder_center_y + torso_height
 
-        def elbow_angle(shoulder, elbow, wrist):
+        if torso_height < self.th['torso_height_min']:
-            """Угол в локте (плечо-локоть-запястье)"""
+            if self.debug:
-            v1 = shoulder - elbow
+                print(f"[SG] Torso height too small: {torso_height:.1f}")
-            v2 = wrist - elbow
+            return 'none'
+
+        def angle_between_vectors(v1, v2):
+            n1 = np.linalg.norm(v1)
+            n2 = np.linalg.norm(v2)
+            if n1 < 1e-6 or n2 < 1e-6:
+                return 0.0
+            cos_a = np.dot(v1, v2) / (n1 * n2)
+            cos_a = float(np.clip(cos_a, -1.0, 1.0))
+            return np.degrees(np.arccos(cos_a))
+
+        def joint_angle(p_prev, p_joint, p_next):
+            v1 = p_prev - p_joint
+            v2 = p_next - p_joint
             return angle_between_vectors(v1, v2)
 
         def segments_intersect(p1, p2, p3, p4):
             def cross(o, a, b):
-                return (a[0] - o[0]) * (b[1] - o[1]) - (a[1] - o [1])* (b[0] - o[0])
+                return (a[0] - o[0]) * (b[1] - o[1]) - (a[1] - o[1]) * (b[0] - o[0])
             d1 = cross(p3, p4, p1)
             d2 = cross(p3, p4, p2)
             d3 = cross(p1, p2, p3)
@@ -85,60 +134,51 @@ class SpecialGestureDetector:
 
         def line_intersection(p1, p2, p3, p4):
             d1 = p2 - p1
-            d2 = p4 -p3
+            d2 = p4 - p3
             denom = d1[0] * d2[1] - d1[1] * d2[0]
             if abs(denom) < 1e-6:
                 return None
             t = ((p3[0] - p1[0]) * d2[1] - (p3[1] - p1[1]) * d2[0]) / denom
             return p1 + t * d1
 
-        # ---- Вычисляем углы ----
+        # Angles (geometric cues)
-        l_angle = elbow_angle(l_sh, l_el, l_wr)   # угол в левом локте
+        l_elbow_angle = joint_angle(l_sh, l_el, l_wr)
-        r_angle = elbow_angle(r_sh, r_el, r_wr)   # угол в правом локте
+        r_elbow_angle = joint_angle(r_sh, r_el, r_wr)
+        r_shoulder_like_angle = joint_angle(r_hip, r_sh, r_el)
 
-        # ---- КРЕСТ ----
+        # 1) CROSS
-        '''
-        # 1. Оба локтя сильно согнуты (< 100°)
-        elbows_bent = (l_angle < 100 and r_angle < 100)
-        # 2. Левое запястье правее правого (перекрест)
-        wrists_crossed = l_wr[0] > r_wr[0] + 5  # небольшой запас в пикселях (можно и 0)
-        # 3. Запястья находятся между плечами и бёдрами по Y (уровень груди)
-        wrists_at_chest = (
-            shoulder_center_y - 0.3 * torso_height < l_wr[1] < hip_center_y + 0.3 * torso_height and
-            shoulder_center_y - 0.3 * torso_height < r_wr[1] < hip_center_y + 0.3 * torso_height
-        )
-
-        cross = elbows_bent and wrists_crossed and wrists_at_chest
-        if cross:
-            return 'cross'
-        '''
         forearms_cross = segments_intersect(l_el, l_wr, r_el, r_wr)
         intersection = line_intersection(l_el, l_wr, r_el, r_wr)
         intersection_on_chest = False
         if intersection is not None:
-            intersection_on_chest = (shoulder_center_y - 0.2 * torso_height < intersection[1] < hip_center_y + 0.2 * torso_height)
+            band = self.th['chest_band'] * torso_height
-        cross = forearms_cross and intersection_on_chest
+            intersection_on_chest = (shoulder_center_y - band) < intersection[1] < (hip_center_y + band)
-        if cross:
+
+        if self.debug:
+            print(f"[SG] cross_check: intersect={forearms_cross}, chest={intersection_on_chest}")
+
+        if forearms_cross and intersection_on_chest:
             return 'cross'
 
-        # ---- ДОМИК ----
+        # 2) LIGHT
-        # 1. Запястья выше носа
+        if (self.th['light_elbow_min'] < r_elbow_angle < self.th['light_elbow_max'] and
-        wrists_above_nose = (l_wr[1] < nose[1] and r_wr[1] < nose[1])
+                self.th['light_shoulder_min'] < r_shoulder_like_angle < self.th['light_shoulder_max']):
+            return 'light'
 
-        # 2. Локти выше плеч (верхняя граница плеч – min по Y среди плеч)
+        # 3) DOME
+        wrists_above_nose = (l_wr[1] < nose[1] and r_wr[1] < nose[1])
         shoulders_top_y = min(l_sh[1], r_sh[1])
         elbows_above_shoulders = (l_el[1] < shoulders_top_y and r_el[1] < shoulders_top_y)
-
-        # 3. Расстояние между локтями > расстояние между плечами
         elbow_distance = np.linalg.norm(l_el - r_el)
-        elbows_far_apart = elbow_distance > shoulder_width
+        elbows_far_apart = elbow_distance > (self.th['elbow_far_factor'] * shoulder_width)
-
-        # 4. Расстояние между запястьями < половины ширины плеч
         wrist_distance = np.linalg.norm(l_wr - r_wr)
-        wrists_near = wrist_distance < 0.5 * shoulder_width
+        wrists_near = wrist_distance < (self.th['wrists_near_factor'] * shoulder_width)
 
-        dome = wrists_above_nose and elbows_above_shoulders and elbows_far_apart and wrists_near
+        if self.debug:
-        if dome:
+            print(f"[SG] dome_check: wrists_above={wrists_above_nose}, elbows_above={elbows_above_shoulders}, "
+                  f"elbow_d={elbow_distance:.1f}, wrist_d={wrist_distance:.1f}")
+
+        if wrists_above_nose and elbows_above_shoulders and elbows_far_apart and wrists_near:
             return 'dome'
 
         return 'none'