def interpolateEmotion(arListRatio, rNeutral=0.):
"create a position intermediary mixed from 6 emotions and a neutral"
"arListRatio: the ratio of each emotions: [Proud, Happy, Excitement, Fear, Sadness, Anger]"
" if sum is greater than 1, it would be normalised"
" if sum is lower than 1, a neutral position would be added"
"rNeutral: to force an addition of a proportion of the neutral pose"
# preparation of the ratio
if (len(arListRatio) > 6):
arListRatio = arListRatio[:6]
rSum = arraytools.arraySum(arListRatio)
# rEpsilon = 0.1;
if (rSum + rNeutral < 1.):
rNeutral = 1. - rSum
rSumTotal = rSum + rNeutral
if (rSumTotal > 1.):
# normalisation
for i in range(len(arListRatio)):
arListRatio[i] /= rSumTotal
rNeutral /= rSumTotal
# push zeroes for others emotions:
for i in range(len(arListRatio), 6):
arListRatio.append(0.)
print(
"interpolateEmotion: using emotions ratio: %s and neutral ratio: %5.2f"
% (str(arListRatio), rNeutral))
arListRatio.append(rNeutral)
listPosEmotion = PoseLibrary.getEmotionPose(True)
# True => ajoute la neutre !
# print( "listPosEmotion has %d poses" % len( listPosEmotion ) );
listPosResult = {}
for k, v in listPosEmotion[0].iteritems():
rVal = v * arListRatio[0]
bKeyInAllPos = True
for i in range(1, len(listPosEmotion)):
if (k in listPosEmotion[i]):
rVal += listPosEmotion[i][k] * arListRatio[i]
else:
bKeyInAllPos = False
if (bKeyInAllPos):
listPosResult[k] = rVal
# for - end
return listPosResult
def interpolateEmotion( arListRatio, rNeutral = 0. ):
"create a position intermediary mixed from 6 emotions and a neutral"
"arListRatio: the ratio of each emotions: [Proud, Happy, Excitement, Fear, Sadness, Anger]"
" if sum is greater than 1, it would be normalised"
" if sum is lower than 1, a neutral position would be added"
"rNeutral: to force an addition of a proportion of the neutral pose"
# preparation of the ratio
if( len( arListRatio ) > 6 ):
arListRatio = arListRatio[:6];
rSum = arraytools.arraySum( arListRatio );
# rEpsilon = 0.1;
if( rSum + rNeutral < 1. ):
rNeutral = 1. - rSum;
rSumTotal = rSum + rNeutral;
if( rSumTotal > 1. ):
# normalisation
for i in range( len( arListRatio ) ):
arListRatio[i] /= rSumTotal;
rNeutral /= rSumTotal;
# push zeroes for others emotions:
for i in range( len( arListRatio ), 6 ):
arListRatio.append( 0. );
print( "interpolateEmotion: using emotions ratio: %s and neutral ratio: %5.2f" % ( str( arListRatio ), rNeutral ) );
arListRatio.append( rNeutral );
listPosEmotion = PoseLibrary.getEmotionPose( True ); # True => ajoute la neutre !
# print( "listPosEmotion has %d poses" % len( listPosEmotion ) );
listPosResult = {};
for k, v in listPosEmotion[0].iteritems():
rVal = v * arListRatio[0];
bKeyInAllPos = True;
for i in range( 1, len( listPosEmotion ) ):
if( k in listPosEmotion[i] ):
rVal += listPosEmotion[i][k] * arListRatio[i];
else:
bKeyInAllPos = False;
if( bKeyInAllPos ):
listPosResult[k] = rVal;
# for - end
return listPosResult;
def interpolateTrackingEmotion( arListRatio, arPosHead, rNeutral = 0. ):
"create a position intermediary mixed from 6 emotions and a neutral, related to some specific angle of the head"
"arListRatio: the ratio of each emotions: [Proud, Happy, Excitement, Fear, Sadness, Anger]"
" if sum is greater than 1, it would be normalised"
" if sum is lower than 1, a neutral position would be added"
"rNeutral: to force an addition of a proportion of the neutral pose"
# preparation of the ratio
if( len( arListRatio ) > 6 ):
arListRatio = arListRatio[:6];
rSum = arraytools.arraySum( arListRatio );
# rEpsilon = 0.1;
if( rSum + rNeutral < 1. ):
rNeutral = 1. - rSum;
rSumTotal = rSum + rNeutral;
if( rSumTotal > 1. ):
# normalisation
for i in range( len( arListRatio ) ):
arListRatio[i] /= rSumTotal;
rNeutral /= rSumTotal;
# push zeroes for others emotions:
for i in range( len( arListRatio ), 6 ):
arListRatio.append( 0. );
print( "interpolateTrackingEmotion(head:%5.2f,%5.2f): using emotions ratio: %s and neutral ratio: %f" % ( arPosHead[0], arPosHead[1], str( arListRatio ), rNeutral ) );
arListRatio.append( rNeutral );
listPosTrackingEmotion = PoseLibrary.getTrackingEmotionPose( True ); # True => ajoute la neutre !
# in fact we will allways generate from a square from center to left side, and we mirror it if we are in the right area
# first we compute the 4 poses from emotion mixes:
# print( "arListRatio final: %s, len: %d" % ( str( arListRatio ), len( arListRatio ) ) );
listPosResult = [{},{},{},{}];
# for each corner to generate
for indexSquare in range( 4 ):
# for each joint
for k, v in listPosTrackingEmotion[0][indexSquare].iteritems():
rVal = v * arListRatio[0];
bKeyInAllPos = True;
# for each emotion, sum the ratio concerning this joint
for i in range( 1, len( listPosTrackingEmotion ) ):
# print( "i: %d / %d" % (i,len( listPosTrackingEmotion) ) );
# print( "ratio: %f" % arListRatio[i] );
if( k in listPosTrackingEmotion[i][indexSquare] ):
rVal += listPosTrackingEmotion[i][indexSquare][k] * arListRatio[i];
else:
bKeyInAllPos = False;
if( bKeyInAllPos ):
# print( "k: %s, rVal: %f" % ( k, rVal ) );
listPosResult[indexSquare][k] = rVal;
# for - each point of square end
# for - end square
# then we compute the center position relative of the 4 pose
listPosResult = PoseLibrary.interpolatePositionXY_Mirror( listPosResult[0], listPosResult[1], listPosResult[2], listPosResult[3], arPosHead[0], arPosHead[1] );
return listPosResult;
def interpolateTrackingEmotion(arListRatio, arPosHead, rNeutral=0.):
"create a position intermediary mixed from 6 emotions and a neutral, related to some specific angle of the head"
"arListRatio: the ratio of each emotions: [Proud, Happy, Excitement, Fear, Sadness, Anger]"
" if sum is greater than 1, it would be normalised"
" if sum is lower than 1, a neutral position would be added"
"rNeutral: to force an addition of a proportion of the neutral pose"
# preparation of the ratio
if (len(arListRatio) > 6):
arListRatio = arListRatio[:6]
rSum = arraytools.arraySum(arListRatio)
# rEpsilon = 0.1;
if (rSum + rNeutral < 1.):
rNeutral = 1. - rSum
rSumTotal = rSum + rNeutral
if (rSumTotal > 1.):
# normalisation
for i in range(len(arListRatio)):
arListRatio[i] /= rSumTotal
rNeutral /= rSumTotal
# push zeroes for others emotions:
for i in range(len(arListRatio), 6):
arListRatio.append(0.)
print(
"interpolateTrackingEmotion(head:%5.2f,%5.2f): using emotions ratio: %s and neutral ratio: %f"
% (arPosHead[0], arPosHead[1], str(arListRatio), rNeutral))
arListRatio.append(rNeutral)
listPosTrackingEmotion = PoseLibrary.getTrackingEmotionPose(True)
# True => ajoute la neutre !
# in fact we will allways generate from a square from center to left side, and we mirror it if we are in the right area
# first we compute the 4 poses from emotion mixes:
# print( "arListRatio final: %s, len: %d" % ( str( arListRatio ), len( arListRatio ) ) );
listPosResult = [{}, {}, {}, {}]
# for each corner to generate
for indexSquare in range(4):
# for each joint
for k, v in listPosTrackingEmotion[0][indexSquare].iteritems():
rVal = v * arListRatio[0]
bKeyInAllPos = True
# for each emotion, sum the ratio concerning this joint
for i in range(1, len(listPosTrackingEmotion)):
# print( "i: %d / %d" % (i,len( listPosTrackingEmotion) ) );
# print( "ratio: %f" % arListRatio[i] );
if (k in listPosTrackingEmotion[i][indexSquare]):
rVal += listPosTrackingEmotion[i][indexSquare][
k] * arListRatio[i]
else:
bKeyInAllPos = False
if (bKeyInAllPos):
# print( "k: %s, rVal: %f" % ( k, rVal ) );
listPosResult[indexSquare][k] = rVal
# for - each point of square end
# for - end square
# then we compute the center position relative of the 4 pose
listPosResult = PoseLibrary.interpolatePositionXY_Mirror(
listPosResult[0], listPosResult[1], listPosResult[2],
listPosResult[3], arPosHead[0], arPosHead[1])
return listPosResult
def interpolateColorEmotion( arListRatio, rNeutral = 0. ):
"create a color for each eyes mixed from 6 emotions colors and a neutral"
"arListRatio: the ratio of each emotions: [Proud, Happy, Excitement, Fear, Sadness, Anger]"
" if sum is greater than 1, it would be normalised"
" if sum is lower than 1, a neutral position would be added"
"rNeutral: to force an addition of a proportion of the neutral pose"
"return a RGB hexa code describing the left eyes (use mirror for right eye)"
debug.debug( "interpolateColorEmotion( %s, %f )" % ( str( arListRatio ), rNeutral ) );
# preparation of the ratio
rSum = arraytools.arraySum( arListRatio );
rEpsilon = 0.001;
if( rNeutral < rEpsilon and rSum < 1. ):
rNeutral = 1. - rSum;
rSumTotal = rSum + rNeutral;
if( rSumTotal > 1. ):
# normalisation
for i in range( len( arListRatio ) ):
arListRatio[i] /= rSumTotal;
rNeutral /= rSumTotal;
# push zeroes for others emotions:
for i in range( len( arListRatio ), 6 ):
arListRatio.append( 0. );
anColorNeutral = arraytools.arrayCreate( 8, 0x0000FF );
listColorEmotion = getListColorEmotion();
if( rNeutral > 0.001 ):
listColorEmotion.append( anColorNeutral );
arListRatio.append( rNeutral );
anColor = arraytools.arrayCreate( 8, [0.,0.,0.] );
#~ print( "arListRatio: %s" % str( arListRatio ) );
#~ print( "listColorEmotion: %s" % str( listColorEmotion ) );
#~ print( "anColorNeutral: %s" % str( anColorNeutral ) );
#~ print( "anColor: %s" % str( anColor ) );
# hexa to comp rgb
arListColorEmotionRGB = [];
for nNumEmotion in range( len( listColorEmotion ) ):
arListColorEmotionRGB.append( [] );
for led in listColorEmotion[nNumEmotion]:
arListColorEmotionRGB[nNumEmotion].append( color.colorHexaToComp( led ) );
# interpolation stuff
for nNumEmotion in range( len( arListColorEmotionRGB ) ):
for nNumLed in range( len( anColor ) ):
for nNumComposanteRGB in range( 3 ):
anColor[nNumLed][nNumComposanteRGB] += arListRatio[nNumEmotion] * arListColorEmotionRGB[nNumEmotion][nNumLed][nNumComposanteRGB];
# print( "anColor2: %s" % str( anColor ) );
# median and rgb to hexa
for nNumLed in range( len( anColor ) ):
# we haven't to divide in rgb space !
#~ for nNumComposanteRGB in range( 3 ):
#~ anColor[nNumLed][nNumComposanteRGB] = anColor[nNumLed][nNumComposanteRGB] / len( arListColorEmotionRGB );
anColor[nNumLed] = color.colorCompToHexa( anColor[nNumLed][2], anColor[nNumLed][1], anColor[nNumLed][0] );
return anColor;