Initial commit
This commit is contained in:
moscovskayaliza
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import cv2
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import os
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import csv
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import sys
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from pathlib import Path
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import argparse
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sys.path.append(str(Path(__file__).parent.parent))
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from skeleton.mediapipe_detector import MediaPipeDetector
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from ml_gestures.feature_extractor import normalize_landmarks
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def main():
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parser = argparse.ArgumentParser(description='Разметка изображений для обучения')
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parser.add_argument('--folder', required=True, help='Папка с изображениями')
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parser.add_argument('--classes', default='dome,cross,none',
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help='Список классов через запятую')
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parser.add_argument('--output', default='gesture_data.csv',
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help='Имя выходного CSV-файла')
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args = parser.parse_args()
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classes = [c.strip() for c in args.classes.split(',')]
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key_to_class = {str(i+1): cls for i, cls in enumerate(classes)}
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print("Классы:", classes)
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detector = MediaPipeDetector()
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image_extensions = ('.jpg', '.jpeg', '.png', '.bmp')
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image_files = [f for f in os.listdir(args.folder) if f.lower().endswith(image_extensions)]
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image_files.sort()
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print(f"Найдено {len(image_files)} изображений.")
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csv_file = args.output
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file_exists = os.path.isfile(csv_file)
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if not file_exists:
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with open(csv_file, 'w', newline='', encoding='utf-8') as f:
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writer = csv.writer(f)
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# 99 признаков (33 точки * 3 координаты)
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writer.writerow(['class'] + [f'f{i}' for i in range(99)])
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for idx, filename in enumerate(image_files):
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filepath = os.path.join(args.folder, filename)
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print(f"\n[{idx+1}/{len(image_files)}] {filename}")
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image = cv2.imread(filepath)
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if image is None:
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continue
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result = detector.detect(image)
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if not result['success']:
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cv2.imshow('No skeleton', image)
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cv2.waitKey(0)
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cv2.destroyAllWindows()
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continue
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landmarks = result['landmarks']
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features = normalize_landmarks(landmarks) # вектор из 99 чисел
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display = detector.draw_landmarks(image, result['pose_landmarks'])
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h, w = display.shape[:2]
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# Панель с инструкцией
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overlay = display.copy()
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cv2.rectangle(overlay, (0, h-80), (w, h), (50,50,50), -1)
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cv2.addWeighted(overlay, 0.6, display, 0.4, 0, display)
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y = h - 60
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for i, cls in enumerate(classes):
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cv2.putText(display, f"{i+1}:{cls}", (10 + i*120, y),
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cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255,255,255), 2)
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cv2.putText(display, "n:skip q:quit", (10, y+30),
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cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255,255,0), 2)
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cv2.imshow('Annotation', display)
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key = cv2.waitKey(0) & 0xFF
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cv2.destroyAllWindows()
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if key == ord('q'):
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break
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elif key == ord('n'):
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continue
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else:
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key_char = chr(key) if key < 256 else None
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if key_char in key_to_class:
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selected = key_to_class[key_char]
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with open(csv_file, 'a', newline='', encoding='utf-8') as f:
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writer = csv.writer(f)
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writer.writerow([selected] + features.tolist())
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print(f"Сохранено: {selected}")
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else:
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print("Неверная клавиша")
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print("Готово.")
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if __name__ == '__main__':
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main()
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@@ -0,0 +1,9 @@
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class DummyRobot:
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def set_speeds(self, linear, angular):
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print(f"Robot: linear={linear:.2f}, angular={angular:.2f}")
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def step(self):
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pass
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def quit(self):
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pass
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@@ -0,0 +1,137 @@
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import pygame
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import sys
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import math
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class MapSimulator:
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def __init__(self, config):
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pygame.init()
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self.width = config.MAP_WIDTH
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self.height = config.MAP_HEIGHT
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self.screen = pygame.display.set_mode((self.width, self.height))
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pygame.display.set_caption("Robot Map Simulator")
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self.clock = pygame.time.Clock()
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self.font = pygame.font.SysFont(None, 24)
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self.obstacles = config.MAP_OBSTACLES
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self.start = config.START_POS
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self.finish = config.FINISH_POS
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self.robot_radius = config.ROBOT_RADIUS
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if config.ROBOT_IMAGE_PATH:
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try:
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self.robot_image = pygame.image.load(config.ROBOT_IMAGE_PATH)
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self.robot_image = pygame.transform.scale(self.robot_image,
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(self.robot_radius*2, self.robot_radius*2))
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except:
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self.robot_image = None
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else:
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self.robot_image = None
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self.reset()
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def reset(self):
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self.x, self.y = self.start
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self.angle = 0.0
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self.linear_speed = 0.0
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self.angular_speed = 0.0
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self.game_over = False
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self.won = False
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def set_speeds(self, linear, angular):
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self.linear_speed = linear
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self.angular_speed = angular
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def update(self):
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if self.game_over or self.won:
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return
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dt = 1/30.0
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self.angle += self.angular_speed * dt * 2
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dx = self.linear_speed * math.cos(self.angle) * dt * 100
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dy = self.linear_speed * math.sin(self.angle) * dt * 100
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new_x = self.x + dx
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new_y = self.y + dy
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# Ограничение границами карты
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new_x = max(self.robot_radius, min(self.width - self.robot_radius, new_x))
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new_y = max(self.robot_radius, min(self.height - self.robot_radius, new_y))
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# Проверка столкновений с препятствиями
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if not self.check_collision(new_x, new_y):
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self.x, self.y = new_x, new_y
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else:
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self.game_over = True
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# Проверка финиша
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dist = math.hypot(self.x - self.finish[0], self.y - self.finish[1])
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if dist < self.robot_radius:
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self.won = True
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def check_collision(self, x, y):
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for ox, oy, ow, oh in self.obstacles:
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closest_x = max(ox, min(x, ox + ow))
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closest_y = max(oy, min(y, oy + oh))
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dist = math.hypot(x - closest_x, y - closest_y)
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if dist < self.robot_radius:
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return True
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return False
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def draw(self):
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self.screen.fill((255,255,255))
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for obs in self.obstacles:
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pygame.draw.rect(self.screen, (100,100,100), obs)
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pygame.draw.circle(self.screen, (0,255,0),
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(int(self.finish[0]), int(self.finish[1])), self.robot_radius, 2)
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if self.robot_image:
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rotated = pygame.transform.rotate(self.robot_image, -math.degrees(self.angle))
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rect = rotated.get_rect(center=(int(self.x), int(self.y)))
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self.screen.blit(rotated, rect)
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else:
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nose = (self.x + self.robot_radius * math.cos(self.angle),
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self.y + self.robot_radius * math.sin(self.angle))
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left = (self.x + self.robot_radius * math.cos(self.angle + 2.5),
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self.y + self.robot_radius * math.sin(self.angle + 2.5))
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right = (self.x + self.robot_radius * math.cos(self.angle - 2.5),
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self.y + self.robot_radius * math.sin(self.angle - 2.5))
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pygame.draw.polygon(self.screen, (0,0,255), [nose, left, right])
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texts = [
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f"Linear: {self.linear_speed:.2f}",
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f"Angular: {self.angular_speed:.2f}",
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]
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y = 10
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for t in texts:
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surf = self.font.render(t, True, (0,0,0))
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self.screen.blit(surf, (10, y))
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y += 25
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if self.game_over:
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msg = self.font.render("GAME OVER – Press R to restart", True, (255,0,0))
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self.screen.blit(msg, (self.width//2 - 150, self.height//2))
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elif self.won:
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msg = self.font.render("YOU WIN! – Press R to restart", True, (0,100,0))
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self.screen.blit(msg, (self.width//2 - 120, self.height//2))
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pygame.display.flip()
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def handle_events(self):
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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return False
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if event.type == pygame.KEYDOWN and event.key == pygame.K_r:
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self.reset()
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return True
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def step(self):
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if not self.handle_events():
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return False
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self.update()
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self.draw()
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self.clock.tick(30)
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return True
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def quit(self):
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pygame.quit()
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