From bc160001bc1c39ea6ba0a91e102d32f22d61db4d Mon Sep 17 00:00:00 2001 From: gestures3 Date: Fri, 10 Jul 2026 12:09:20 +0300 Subject: [PATCH] last dummy --- gesture_control/arm_control.py | 55 +++++++++++++++++++---------- gesture_control/special_gestures.py | 52 ++++++++++++++++++--------- 2 files changed, 72 insertions(+), 35 deletions(-) diff --git a/gesture_control/arm_control.py b/gesture_control/arm_control.py index f7bcd75..4d9392f 100644 --- a/gesture_control/arm_control.py +++ b/gesture_control/arm_control.py @@ -55,7 +55,7 @@ class ArmController: def _horizontal_displacement_rel(self, landmarks, side): """ - Нормированное горизонтальное смещение запястья относительно плеча. + Нормированное горизонтальное смещение запястья относительно плеча.Ширина плеч для нормировки горизонтальных смещен Сторона `side` — это реальная сторона руки """ s_idx, w_idx = self._get_side_indices(side) @@ -100,27 +100,44 @@ class ArmController: print("Руки не видны") return 0.0, 0.0 - linear_side = self.config['linear_arm'] - angular_side = self.config['angular_arm'] - lin_rel = self._horizontal_displacement_rel(landmarks, linear_side) - ang_rel = self._vertical_displacement_rel(landmarks, angular_side) - if self.debug: - print(f"lin_rel={lin_rel:.3f}, ang_rel={ang_rel:.3f}") + r_sh_z = landmarks[12][2] + r_wr_z = landmarks[16][2] + r_sh_z_divided = (landmarks[12][2] + landmarks[11][2])/2 + nose_z = landmarks[0][2] + nose_and_sh_distance = r_sh_z_divided - nose_z - # Линейная скорость (только вперёд) - if lin_rel < self.dead_zone: - linear = 0.0 - else: - linear = min(lin_rel, 1.0) * self.config['max_speed_linear'] + arm_forward = r_sh_z - r_wr_z - # Угловая скорость - if abs(ang_rel) < self.dead_zone: - angular = 0.0 - else: - ang_rel_clipped = np.clip(ang_rel, -1.0, 1.0) - angular = ang_rel_clipped * self.config['max_speed_angular'] + if arm_forward < 3*nose_and_sh_distance: + #print(f"landmarks[12][2] {landmarks[12][2] - landmarks[16][2]}") + + linear_side = self.config['linear_arm'] + angular_side = self.config['angular_arm'] + + #lin_rel = self._horizontal_displacement_rel(landmarks, linear_side) + lin_rel = self._vertical_displacement_rel(landmarks, linear_side) + ang_rel = self._vertical_displacement_rel(landmarks, angular_side) + + if self.debug: + print(f"lin_rel={lin_rel:.3f}, ang_rel={ang_rel:.3f}") - return linear, angular + # Линейная скорость + if abs(lin_rel) < self.dead_zone: + linear = 0.0 + else: + lin_rel_clipped = np.clip(lin_rel, -1.0, 1.0) + linear = lin_rel_clipped * self.config['max_speed_linear'] + + # Угловая скорость + if abs(ang_rel) < self.dead_zone: + angular = 0.0 + else: + ang_rel_clipped = np.clip(ang_rel, -1.0, 1.0) + angular = ang_rel_clipped * self.config['max_speed_angular'] + return linear, angular + + else: + return 0.0, 0.0 diff --git a/gesture_control/special_gestures.py b/gesture_control/special_gestures.py index 596e0a1..d9304d6 100644 --- a/gesture_control/special_gestures.py +++ b/gesture_control/special_gestures.py @@ -116,29 +116,49 @@ class SpecialGestureDetector: 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) + intersection_on_chest = (shoulder_center_y - 0.3 * torso_height < intersection[1] < hip_center_y + 0.3 * torso_height) cross = forearms_cross and intersection_on_chest if cross: return 'cross' - # ---- ДОМИК ---- - # 1. Запястья выше носа - wrists_above_nose = (l_wr[1] < nose[1] and r_wr[1] < nose[1]) + ## ---- ДОМИК ---- + ## 1. Запястья выше носа + #wrists_above_nose = (l_wr[1] < nose[1] and r_wr[1] < nose[1]) - # 2. Локти выше плеч (верхняя граница плеч – min по Y среди плеч) - 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) + ## 2. Локти выше плеч (верхняя граница плеч – min по Y среди плеч) + #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 + ## 3. Расстояние между локтями > расстояние между плечами + #elbow_distance = np.linalg.norm(l_el - r_el) + #elbows_far_apart = elbow_distance > 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 + ## 4. Расстояние между запястьями < половины ширины плеч + #wrist_distance = np.linalg.norm(l_wr - r_wr) + #wrists_near = wrist_distance < 0.5 * shoulder_width + + #dome = wrists_above_nose and elbows_above_shoulders and elbows_far_apart and wrists_near + #if dome: + #return 'dome' + + # ---- ЛАДОШКА ---- + + r_sh_z = landmarks[idx['right_shoulder']][2] + r_wr_z = landmarks[idx['right_wrist']][2] + r_el_z = landmarks[idx['right_elbow']][2] + #1. правая рука почти выпрямлена + wrist_at_shoulder_y = abs(r_wr[1] - r_sh[1]) < 0.4 * torso_height + wrist_at_shoulder_x = abs(r_wr[0] - r_sh[0]) < 0.5 * shoulder_width + + r_sh_z_divided = (landmarks[12][2] + landmarks[11][2])/2 + nose_z = landmarks[0][2] + nose_and_sh_distance = r_sh_z_divided - nose_z + + arm_forward = r_sh_z - r_wr_z + + print(f"arm_forward = {round(arm_forward, 3)} and nose_and_sh_distance = {round(nose_and_sh_distance, 3)}") + if wrist_at_shoulder_y and wrist_at_shoulder_x and (arm_forward > 3.5*nose_and_sh_distance): + return "ladoshka" - dome = wrists_above_nose and elbows_above_shoulders and elbows_far_apart and wrists_near - if dome: - return 'dome' return 'none'