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@ -1,126 +1,115 @@
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import numpy as np
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import cv2
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class ArmController:
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def __init__(self, config, mirror=False):
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self.config = config
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self.mirror = mirror
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self.shoulder_idx = {'left': 11, 'right': 12}
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# arms assignment
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self.linear_arm = config.get('linear_arm', 'right')
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self.angular_arm = config.get('angular_arm', 'left')
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self.wrist_idx = {'left': 15, 'right': 16}
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self.shoulder_idx = {'left': 11, 'right': 12}
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self.hip_idx = {'left': 23, 'right': 24}
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self.dead_zone = config.get('dead_zone', 0.2)
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self.debug = config.get('debug', False)
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# separate max speeds
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self.max_speed_linear = config.get('max_speed_linear', 1.0)
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self.max_speed_angular = config.get('max_speed_angular', 1.0)
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def _get_side_indices(self, side):
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"""
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Возвращает (shoulder_idx, wrist_idx) для заданной стороны (left/right).
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При mirror=True интерпретируем сторону как в реальности: левая/правая рука.
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"""
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"""Returns the wrist landmark index for a logical side, accounting for mirror."""
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if self.mirror:
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if side == 'left':
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s_idx = 12
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w_idx = 16
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else:
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s_idx = 11
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w_idx = 15
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w_idx = self.wrist_idx['right'] if side == 'left' else self.wrist_idx['left']
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else:
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if side == 'left':
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s_idx = 11
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w_idx = 15
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else:
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s_idx = 12
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w_idx = 16
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return s_idx, w_idx
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def _get_shoulder_width(self, landmarks):
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"""Ширина плеч для нормировки горизонтальных смещений."""
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left = landmarks[11][:2]
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right = landmarks[12][:2]
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width = np.linalg.norm(right - left)
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if width < 50 or width > 300:
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return None
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return width
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def _get_torso_height(self, landmarks):
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"""Высота торса для нормировки вертикальных смещений."""
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left_shoulder = landmarks[11][:2]
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right_shoulder = landmarks[12][:2]
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left_hip = landmarks[23][:2]
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right_hip = landmarks[24][:2]
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shoulder_center = (left_shoulder + right_shoulder) / 2
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hip_center = (left_hip + right_hip) / 2
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height = np.linalg.norm(shoulder_center - hip_center)
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if height < 50:
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return None
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return height
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w_idx = self.wrist_idx[side]
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return w_idx
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def _horizontal_displacement_rel(self, landmarks, side):
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def _get_wrist_norm(self, landmarks, side):
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"""
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Нормированное горизонтальное смещение запястья относительно плеча.
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Сторона `side` — это реальная сторона руки
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Returns normalized wrist position in the range -1..1 relative to the body.
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Uses shoulders as horizontal reference and shoulder/hip as vertical reference.
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Returns None if the wrist is not visible.
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landmarks: array [N, 4] -> [x, y, z, visibility], x/y are normalized 0..1 (MediaPipe).
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"""
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s_idx, w_idx = self._get_side_indices(side)
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w_idx = self._get_side_indices(side)
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if landmarks[s_idx][3] < 0.5 or landmarks[w_idx][3] < 0.5:
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return 0.0
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if landmarks[w_idx][3] < 0.5:
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return None
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shoulder = landmarks[s_idx][:2]
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wrist = landmarks[w_idx][:2]
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wx = float(landmarks[w_idx][0])
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wy = float(landmarks[w_idx][1])
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shoulder_width = self._get_shoulder_width(landmarks)
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if shoulder_width is None:
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return 0.0
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# Reference points (body center)
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ls_x, ls_y = landmarks[self.shoulder_idx['left']][0], landmarks[self.shoulder_idx['left']][1]
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rs_x, rs_y = landmarks[self.shoulder_idx['right']][0], landmarks[self.shoulder_idx['right']][1]
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lh_y = landmarks[self.hip_idx['left']][1]
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rh_y = landmarks[self.hip_idx['right']][1]
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disp = wrist[0] - shoulder[0]
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return disp / shoulder_width
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center_x = (ls_x + rs_x) / 2.0
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shoulder_y = (ls_y + rs_y) / 2.0
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hip_y = (lh_y + rh_y) / 2.0
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def _vertical_displacement_rel(self, landmarks, side):
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"""
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Вертикальное смещение: верх/низ запястья относительно плеча.
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Сторона `side` — реальная сторона руки.
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"""
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s_idx, w_idx = self._get_side_indices(side)
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shoulder_width = abs(ls_x - rs_x)
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torso_height = abs(hip_y - shoulder_y)
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if landmarks[s_idx][3] < 0.5 or landmarks[w_idx][3] < 0.5:
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return 0.0
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# avoid division by zero
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shoulder_width = max(shoulder_width, 1e-3)
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torso_height = max(torso_height, 1e-3)
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shoulder = landmarks[s_idx][:2]
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wrist = landmarks[w_idx][:2]
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# normalized offset from body center, scaled by body size
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nx = (wx - center_x) / shoulder_width
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# vertical: up = positive; measured from shoulder line
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ny = (shoulder_y - wy) / torso_height
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torso_height = self._get_torso_height(landmarks)
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if torso_height is None:
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return 0.0
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nx = float(np.clip(nx, -1.0, 1.0))
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ny = float(np.clip(ny, -1.0, 1.0))
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disp = shoulder[1] - wrist[1]
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return disp / torso_height
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return nx, ny
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def _apply_dead_zone(self, value):
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"""Removes dead zone and rescales -1..1 -> -1..1."""
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if abs(value) < self.dead_zone:
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return 0.0
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sign = 1.0 if value > 0 else -1.0
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scaled = (abs(value) - self.dead_zone) / (1.0 - self.dead_zone)
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return sign * float(np.clip(scaled, 0.0, 1.0))
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def compute_speeds(self, landmarks):
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if (landmarks[11][3] < 0.5 or landmarks[12][3] < 0.5 or
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landmarks[15][3] < 0.5 or landmarks[16][3] < 0.5):
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if self.debug:
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print("Руки не видны")
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return 0.0, 0.0
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"""
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Main API for the ROS node.
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Returns (linear, angular), both in the range -1..1.
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linear_side = self.config['linear_arm']
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angular_side = self.config['angular_arm']
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- linear : controlled by the vertical position of the linear_arm wrist (up = forward)
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- angular : controlled by the horizontal position of the angular_arm wrist
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"""
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if landmarks is None:
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return 0.0, 0.0
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lin_rel = self._horizontal_displacement_rel(landmarks, linear_side)
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ang_rel = self._vertical_displacement_rel(landmarks, angular_side)
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# ---- Linear speed from linear_arm (vertical axis) ----
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linear = 0.0
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lin_pos = self._get_wrist_norm(landmarks, self.linear_arm)
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if lin_pos is not None:
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_, ny = lin_pos
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linear = self._apply_dead_zone(ny) * self.max_speed_linear
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if self.debug:
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print(f"lin_rel={lin_rel:.3f}, ang_rel={ang_rel:.3f}")
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# ---- Angular speed from angular_arm (horizontal axis) ----
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angular = 0.0
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ang_pos = self._get_wrist_norm(landmarks, self.angular_arm)
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if ang_pos is not None:
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nx, _ = ang_pos
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# invert so that hand-to-the-left = turn left (adjust sign if needed)
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angular = -self._apply_dead_zone(nx) * self.max_speed_angular
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# Линейная скорость (только вперёд)
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if lin_rel < self.dead_zone:
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linear = 0.0
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else:
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linear = min(lin_rel, 1.0) * self.config['max_speed_linear']
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linear = float(np.clip(linear, -1.0, 1.0))
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angular = float(np.clip(angular, -1.0, 1.0))
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# Угловая скорость
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if abs(ang_rel) < self.dead_zone:
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angular = 0.0
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else:
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ang_rel_clipped = np.clip(ang_rel, -1.0, 1.0)
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angular = ang_rel_clipped * self.config['max_speed_angular']
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if self.debug:
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print(f"[ArmController] linear={linear:.2f} angular={angular:.2f}")
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return linear, angular
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gestures4
2 weeks ago