minus added

gesture_control/arm_control.py

@@ -92,7 +92,7 @@ class ArmController:
 
         disp = shoulder[1] - wrist[1]
         return disp / torso_height
-
+    '''
     def compute_speeds(self, landmarks):
         if (landmarks[11][3] < 0.5 or landmarks[12][3] < 0.5 or
             landmarks[15][3] < 0.5 or landmarks[16][3] < 0.5):
@@ -116,11 +116,95 @@ class ArmController:
             linear = min(lin_rel, 1.0) * self.config['max_speed_linear']
 
         # Угловая скорость
-        if abs(ang_rel) < self.dead_zone:
+        if abs(ang_rel) < self.dead_zone:norm_lin * self.config['max_speed_linear']
             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
+    '''
+
+    def _get_angle(self, landmark1, landmark2):
+        x1 = landmark1[0]
+        y1 = landmark1[1]
+        x2 = landmark2[0]
+        y2 = landmark2[1]
+        angle = np.arctan2(y2 - y1, x2 - x1)
+        return angle
+
+    def compute_speeds(self, landmarks):
+        if (landmarks[11][3] < 0.5 or landmarks[12][3] < 0.5 or
+            landmarks[15][3] < 0.5 or landmarks[16][3] < 0.5):
+            if self.debug:
+                print("Руки не видны")
+            return 0.0, 0.0
+
+        #right_shoulder_y = landmarks[12][1]
+        #right_hand_y = landmarks[16][1]
+        #right_distance = right_shoulder_y - right_hand_y
+
+        angle_elbow_wirst_left = self._get_angle(landmarks[14], landmarks[16])
+        angle_elbow_wirst_right = self._get_angle(landmarks[13], landmarks[15])
+        linear, angular = 0, 0
+
+        if np.deg2rad(-5) < angle_elbow_wirst_right < np.deg2rad(5):
+            linear = 0
+
+        elif np.deg2rad(-5) > angle_elbow_wirst_right:
+            linear = min(1, angle_elbow_wirst_right / -np.deg2rad(90))
+
+        elif np.deg2rad(5) < angle_elbow_wirst_right:
+            linear = min(1, angle_elbow_wirst_right / -np.deg2rad(90))
+
+        #print(f"Test: {linear} {angle_elbow_wirst_left}")
+
+        error = 15
+
+        #print(f"Test: {angle_elbow_wirst_right} {np.rad2deg(angle_elbow_wirst_right)}")
+
+        #if np.deg2rad(180 - error) < angle_elbow_wirst_left < np.deg2rad(180 + error):
+
+        max_angle = np.deg2rad(180 - error)
+        min_angle = np.deg2rad(-180 + error)
+
+        if angle_elbow_wirst_left < 0:
+
+            if angle_elbow_wirst_left < min_angle:# or angle_elbow_wirst_left > max_angle:
+                angular = 0
+            elif angle_elbow_wirst_left > min_angle:
+                #angular = min(1, angle_elbow_wirst_left / min_angle)
+                angular = -(min_angle - angle_elbow_wirst_left) / (min_angle - np.deg2rad(-90))
+
+        else:
+            if angle_elbow_wirst_left > max_angle:
+                angular = 0
+            elif angle_elbow_wirst_left < max_angle:
+                #angular = -min(1, angle_elbow_wirst_left / max_angle)
+                angular = (max_angle - angle_elbow_wirst_left) / (max_angle - np.deg2rad(90))
+
+        error = 35
+        if -np.deg2rad(error) < angle_elbow_wirst_left < np.deg2rad(error):
+            linear = 0
+            angular = 0
+
+        #angular = angular / 2
+
+
+        #left_shoulder_y = landmarks[11][1]
+        #left_hand_y = landmarks[15][1]
+        #left_distance = left_shoulder_y - left_hand_y
+
+        #torso_height = self._get_torso_height(landmarks)
+        #max_distance = torso_height * 0.5
+        #norm_lin = np.clip((right_distance/max_distance), a_min = 0, a_max = 1)
+
+        #torso_height = self._get_torso_height(landmarks)
+        #max_distance = torso_height * 0.5
+        #norm_ang = np.clip((left_distance/max_distance), a_min = -1, a_max = 1)
+
+        #linear = norm_lin * self.config['max_speed_linear']
+        #angular = norm_ang * self.config['max_speed_linear']
 
+        return linear, -angular
+        #return angular, linear