last dimas

gesture_control/arm_control.py

@@ -55,7 +55,7 @@ class ArmController:
 
     def _horizontal_displacement_rel(self, landmarks, side):
         """
-        Нормированное горизонтальное смещение запястья относительно плеча.Ширина плеч для нормировки горизонтальных смещен
+        Нормированное горизонтальное смещение запястья относительно плеча.
         Сторона `side` — это реальная сторона руки
         """
         s_idx, w_idx = self._get_side_indices(side)
@@ -93,6 +93,7 @@ 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):
@@ -100,44 +101,48 @@ 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)
 
-        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
-
-        arm_forward = r_sh_z - r_wr_z
-
-        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}")
-
-            # 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
+        if self.debug:
+            print(f"lin_rel={lin_rel:.3f}, ang_rel={ang_rel:.3f}")
 
+        # Линейная скорость (только вперёд)
+        if lin_rel < self.dead_zone:
+            linear = 0.0
         else:
-            return 0.0, 0.0
+            linear = min(lin_rel, 1.0) * 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
+    '''
+    def compute_speeds(self, w, h, landmarks):
+        linear = 0
+        angular = 0
+        if 3*w/5>landmarks[19][0]>2*w/5:
+            angular = 0
+        if 3*w/5<landmarks[19][0]:
+            angular = (landmarks[19][0]*5)/(2*w)-1
+        if landmarks[15][0]<2*w/5:
+            angular = (landmarks[19][0]-3*w/5)/(2*w/5)
+        if 3*h/5>landmarks[19][1]>2*h/5:
+            linear = 0
+        if 3*h/5<landmarks[19][1]:
+            linear = -((landmarks[19][1]*5)/(2*h)-1)
+        if landmarks[19][1]<2*h/5:
+            linear = -(landmarks[19][1]-3*h/5)/(2*h/5)
+
+
+
+        print(f"{linear},{angular}")
+        return linear, angular
+

gesture_control/special_gestures.py

@@ -116,73 +116,29 @@ 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 - 0.3 * torso_height < intersection[1] < hip_center_y + 0.3 * torso_height)
+            intersection_on_chest = (shoulder_center_y - 0.2 * torso_height < intersection[1] < hip_center_y + 0.2 * 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])
-
-        ## 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"
-
+        # ---- 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)
 
+        # 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'