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144 lines
5.1 KiB
Python
144 lines
5.1 KiB
Python
import numpy as np
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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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self.wrist_idx = {'left': 15, 'right': 16}
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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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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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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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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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def _horizontal_displacement_rel(self, landmarks, side):
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"""
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Нормированное горизонтальное смещение запястья относительно плеча.Ширина плеч для нормировки горизонтальных смещен
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Сторона `side` — это реальная сторона руки
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"""
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s_idx, 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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shoulder = landmarks[s_idx][:2]
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wrist = landmarks[w_idx][:2]
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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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disp = wrist[0] - shoulder[0]
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return disp / shoulder_width
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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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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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shoulder = landmarks[s_idx][:2]
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wrist = landmarks[w_idx][:2]
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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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disp = shoulder[1] - wrist[1]
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return disp / torso_height
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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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r_sh_z = landmarks[12][2]
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r_wr_z = landmarks[16][2]
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r_sh_z_divided = (landmarks[12][2] + landmarks[11][2])/2
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nose_z = landmarks[0][2]
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nose_and_sh_distance = r_sh_z_divided - nose_z
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arm_forward = r_sh_z - r_wr_z
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if arm_forward < 3*nose_and_sh_distance:
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#print(f"landmarks[12][2] {landmarks[12][2] - landmarks[16][2]}")
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linear_side = self.config['linear_arm']
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angular_side = self.config['angular_arm']
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#lin_rel = self._horizontal_displacement_rel(landmarks, linear_side)
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lin_rel = self._vertical_displacement_rel(landmarks, linear_side)
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ang_rel = self._vertical_displacement_rel(landmarks, angular_side)
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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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# Линейная скорость
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if abs(lin_rel) < self.dead_zone:
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linear = 0.0
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else:
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lin_rel_clipped = np.clip(lin_rel, -1.0, 1.0)
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linear = lin_rel_clipped * self.config['max_speed_linear']
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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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return linear, angular
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else:
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return 0.0, 0.0
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