poses_detection

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:
+        r_sh_z = landmarks[12][2]
-            print(f"lin_rel={lin_rel:.3f}, ang_rel={ang_rel:.3f}")
+        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)
+        arm_forward = r_sh_z - r_wr_z
-        if lin_rel < self.dead_zone:
-            linear = 0.0
-        else:
-            linear = min(lin_rel, 1.0) * self.config['max_speed_linear']
 
-        # Угловая скорость
+        if arm_forward < 3*nose_and_sh_distance:
-        if abs(ang_rel) < self.dead_zone:
+            #print(f"landmarks[12][2] {landmarks[12][2] - landmarks[16][2]}")
-            angular = 0.0
+
-        else:
+            linear_side = self.config['linear_arm']
-            ang_rel_clipped = np.clip(ang_rel, -1.0, 1.0)
+            angular_side = self.config['angular_arm']
-            angular = ang_rel_clipped * self.config['max_speed_angular']
+
+            #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

gesture_control/special_gestures.py

@@ -116,29 +116,73 @@ 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 ----
+        ## ---- ДОМИК ----
-        # 1. Запястья выше носа
+        ## 1. Запястья выше носа
-        wrists_above_nose = (l_wr[1] < nose[1] and r_wr[1] < nose[1])
+        #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)
+
+        ## 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
+
+        #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"
+
+
+        # ---- Рука к носу ----
+        nose_x = landmarks[0][0]
+        nose_y = landmarks[0][1]
+
+        wrist_at_nose_x = abs(r_wr[0] - nose_x) < 0.5 * shoulder_width
+        wrist_at_nose_y = abs(r_wr[1] - nose_y) < 0.2 * torso_height
+
+        if wrist_at_nose_x and wrist_at_nose_y:
+            return "kulak-nos"
+
+
+        # ---- Рука к левому плечу ----
+        wrist_at_shoulder_x = abs(r_wr[0] - l_sh[0]) < 0.2 * shoulder_width
+        wrist_at_shoulder_y = abs(r_wr[1] - l_sh[1]) < 0.2 * torso_height
+
+
+        if wrist_at_shoulder_x and wrist_at_shoulder_y:
+            return "wrist-shoulder"
+
 
-        # 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
 
-        # 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'
 
         return 'none'