def build_list(self):
# Instantiate all gestures and their relationships to other gestures
# Indexes 0 and 1 are wins and 2 and 3 are losses
# eg: Rock crushes Lizard and Spock, Spock and Paper smash/cover rock
self.gesture_obj_list.append(Gestures('Rock', 0,
['Lizard', 'Scissors', 'Spock', 'Paper'],
['crushes', 'crushes', 'vaporizes', 'covers']))
self.gesture_obj_list.append(Gestures('Paper', 1,
['Rock', 'Spock', 'Lizard', 'Scissors'],
['covers', 'disproves', 'eats', 'cuts']))
self.gesture_obj_list.append(Gestures('Scissors', 2,
['Lizard', 'Paper', 'Rock', 'Spock'],
['decapitates', 'cuts', 'crushes', 'smashes']))
self.gesture_obj_list.append(Gestures('Lizard', 3,
['Paper', 'Spock', 'Rock', 'Scissors'],
['eats', 'poisons', 'crushes', 'decapitates']))
self.gesture_obj_list.append(Gestures('Spock', 4,
['Rock', 'Scissors', 'Lizard', 'Paper'],
['vaporizes', 'smashes', '', '']))
# Now build the name list
for gesture in self.gesture_obj_list:
self.gesture_name_list.append(gesture.gesture_name)
return self
def FindHandFromTrack(self):
# Get brightness from tracked hand
kernelM = np.ones((5, 5), np.float32) / 25
blurredM = cv2.filter2D(self.currFrame.copy(), -1, kernelM)
hsv = cv2.cvtColor(blurredM, cv2.COLOR_BGR2HSV)
self.hand_lower_blue = self.AddValueToColorArray([
-constant.HSVConf['hsv_hand_dec'][0],
-constant.HSVConf['hsv_hand_dec'][1],
-constant.HSVConf['hsv_hand_dec'][2]
], self.HSVHandPoint.copy())
self.hand_upper_blue = self.AddValueToColorArray([
constant.HSVConf['hsv_hand_inc'][0],
constant.HSVConf['hsv_hand_inc'][1],
constant.HSVConf['hsv_hand_inc'][2]
], self.HSVHandPoint.copy())
#takes related colors details
mask = cv2.inRange(hsv, self.hand_lower_blue, self.hand_upper_blue)
# artifactsler doing
self.workedMask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernelM)
#opening status state
search_hand_mask = self.workedMask.copy()
search_hand = Gestures()
if search_hand.FindHandFromMaskAndPositions(
search_hand_mask, self.trackedHandGesture.CenterX,
self.trackedHandGesture.CenterY) is False:
self.foundHandGesture = False
else:
self.timeSinceFoundHandTracked = time.time()
self.trackedHandGesture = search_hand
self.HSVHandPoint = hsv[self.trackedHandGesture.CenterY][
self.trackedHandGesture.CenterX]
self.foundHandGesture = True
def __init__(self, **kwargs):
self.ip = kwargs.get('ip', b'localhost')
self.port = kwargs.get('port', 8003)
self.gest = kwargs.get('gestures', 0)
self.specific_message = kwargs.get('specific_message', 0)
self.clt = OscClt(self.ip, self.port)
if self.gest:
self.gestures = Gestures(self.clt)
def TryHandTrack(self):
lower_blue_brightness = constant.HSVConf['hsv_palm_max'][2]
handSearching = Gestures()
while lower_blue_brightness > 15:
# define range of blue color in HSV
lower_blue = np.array([
constant.HSVConf['hsv_palm_min'][0],
constant.HSVConf['hsv_palm_min'][1], lower_blue_brightness
])
upper_blue = np.array([
constant.HSVConf['hsv_palm_max'][0],
constant.HSVConf['hsv_palm_max'][1],
constant.HSVConf['hsv_palm_max'][2]
])
kernelMask = np.ones((5, 5), np.float32) / 25
blurredMask = cv2.filter2D(self.currFrame.copy(), -1, kernelMask)
hsv = cv2.cvtColor(blurredMask, cv2.COLOR_BGR2HSV)
# Threshold the HSV image to get only blue colors
mask = cv2.inRange(hsv, lower_blue, upper_blue)
self.workedMask = cv2.morphologyEx(mask, cv2.MORPH_OPEN,
kernelMask)
# Debug Palm Detection
if self.gestPalmDebug:
cv2.imshow('Mask from HSV Range', self.workedMask)
cv2.waitKey(5)
search_hand_mask = self.workedMask.copy()
foundPalm = handSearching.PalmGestureSearchFromMask(
search_hand_mask)
if foundPalm:
# Set infos from tracked hand
self.trackedHandGesture = handSearching
self.timeSinceFoundHandTracked = time.time()
self.HSVHandPoint = hsv[self.trackedHandGesture.CenterY][
self.trackedHandGesture.CenterX]
self.foundHandGesture = True
return
lower_blue_brightness -= 10
self.foundHandGesture = False
def compare_result_improved(self):
gesture_one = Gestures(self.player_one.choice)
gesture_two = Gestures(self.player_two.choice)
word = gesture_one.result(self.player_one.choice, self.player_two.choice)
if word != "None":
self.player_one.wins += 1
self.display_round_results(self.player_one.name, self.player_one.choice, self.player_two.name,
self.player_two.choice, word)
else:
self.player_two.wins += 1
word = gesture_two.result(self.player_two.choice, self.player_one.choice)
self.display_round_results(self.player_two.name, self.player_two.choice, self.player_one.name,
self.player_one.choice, word)
def TakeGesture(self):
# retry, thumpUp again
timeElapsedSinceLastFoundHand = time.time(
) - self.timeSinceFoundHandTracked
stillTryingToFindHandFromTrack = timeElapsedSinceLastFoundHand < 1
if not stillTryingToFindHandFromTrack:
self.trackedHandGesture = None
if self.trackedHandGesture is not None or stillTryingToFindHandFromTrack:
self.FindHandFromTrack()
#buraya kadar kagitta.
else:
self.TryHandTrack()
self.currentGesture = self.trackedHandGesture
if not self.foundHandGesture:
self.currentGesture = Gestures()
self.currentGesture.features[
'gestNeedPalm'] = not stillTryingToFindHandFromTrack
self.SetTimeSameGesture()
return self.currentGesture
def __init__(self):
self.css = self.default_css
self.extras = []
self.click_func = None
#self.proxy_delegate = None
self.scroll_pos = None
self.font = ('Helvetica', 12)
self.text_color = (.02, .19, .52, 1)
self.highlight_color = (1, 1, 1, 1)
self.alignment = None
self.margins = (10, 10, 10, 10)
#self.loading_fragment = False
self.link_prefix = 'pythonista-markdownview:relay?content='
self.debug_prefix = 'pythonista-markdownview:debug?content='
self.init_postfix = '#pythonista-markdownview-initialize'
self.scroll_prefix = 'pythonista-markdownview:scroll?content='
self.in_doc_prefix = None
self.last_contents = None
# Web fragment is used to find the right scroll position when moving from editing to viewing
'''
self.web_fragment = ui.WebView(flex = 'WH')
self.web_fragment.hidden = True
self.web_fragment.delegate = self
self.add_subview(self.web_fragment)
'''
self.delegate = self
Gestures().add_long_press(self, self.double_tap, number_of_touches_required = 2)
def __init__(self,content=None,parent=AppWindows.root(),*args,**kwargs):
if content:
kwargs['frame']=content.bounds.inset(-self.TOOLBAR_HEIGHT,0,0,0)
self.corner_radius=5
ui.View.__init__(self,*args,**kwargs)
self._pt=None
self.actions={}
self.w0=self.width
self.h0=self.height
# setup toolbar
H=self.TOOLBAR_HEIGHT
toolbar=ui.View(frame=(0,0,self.width,self.TOOLBAR_HEIGHT),
bg_color=(.7,.8,.8,.8))
toolbar.flex='w'
self.add_subview(toolbar)
close=ui.Button(frame=(0,0,H,H))
close.image=ui.Image.named('iob:close_32')
close.action=self.remove
toolbar.add_subview(close)
minimize=ui.Button(frame=(self.width,0,-H,H))
minimize.image=ui.Image.named('iob:chevron_down_32')
toolbar.add_subview(minimize)
minimize.flex='L'
minimize.action=self.toggle
zoom=ui.Button(frame=(minimize.x-8,0,-H,H))
zoom.image=ui.Image.named('iob:arrow_expand_32')
zoom.flex='L'
zoom.action=self.zoom
toolbar.add_subview(zoom)
self.lbl=ui.Label(frame=(H+8,0,zoom.x-2*8-2*H,H),flex='wr')
toolbar.add_subview(self.lbl)
#content
self.content_view = \
ui.View(frame=(0,H,self.width,self.height-H),
flex='wh',
bg_color=(.9,.99,.99,.8))
self.content_view.touch_enabled=False
self.content_view.content_mode = ui.CONTENT_BOTTOM
self.add_subview(self.content_view)
self.resize=ui.ImageView(frame=(self.width-H,self.height-H,H,H))
self.resize.image=ui.Image.named('iob:arrow_resize_32')
self.resize.transform=ui.Transform.rotation(pi/2.)
self.resize.flex='tl'
self.add_subview(self.resize)
self.resize.send_to_back()
self.content_view.send_to_back()
self.resizing=False
self.x=self.last_offset[0]
self.y=self.last_offset[0]
self.last_offset[0]+=H
self.last_offset[1]+=H
if content:
self.content_view.add_subview(content)
content.flex='wh'
self.lbl.text=content.name
#add to top window
self.parent = parent
self.attach()
self.g=Gestures(delegate=self)
self.g.add_pan(self,self.handle_touch_moved)
class Overlay(ui.View,OverlayEvent):
'''Overlay class. User adds content to content_view, or as argument'''
TOOLBAR_HEIGHT=20
last_offset=[60,20]
def __new__(cls,content=None,parent=AppWindows.root(),*args,**kwargs):
if not content or not parent:
return None
else:
return ui.View.__new__(cls, content=content,parent=parent, *args, **kwargs)
def recognizer_should_simultaneously_recognize(self,gr,othergr):
#print(gr)
#print(othergr)
return False
def __init__(self,content=None,parent=AppWindows.root(),*args,**kwargs):
if content:
kwargs['frame']=content.bounds.inset(-self.TOOLBAR_HEIGHT,0,0,0)
self.corner_radius=5
ui.View.__init__(self,*args,**kwargs)
self._pt=None
self.actions={}
self.w0=self.width
self.h0=self.height
# setup toolbar
H=self.TOOLBAR_HEIGHT
toolbar=ui.View(frame=(0,0,self.width,self.TOOLBAR_HEIGHT),
bg_color=(.7,.8,.8,.8))
toolbar.flex='w'
self.add_subview(toolbar)
close=ui.Button(frame=(0,0,H,H))
close.image=ui.Image.named('iob:close_32')
close.action=self.remove
toolbar.add_subview(close)
minimize=ui.Button(frame=(self.width,0,-H,H))
minimize.image=ui.Image.named('iob:chevron_down_32')
toolbar.add_subview(minimize)
minimize.flex='L'
minimize.action=self.toggle
zoom=ui.Button(frame=(minimize.x-8,0,-H,H))
zoom.image=ui.Image.named('iob:arrow_expand_32')
zoom.flex='L'
zoom.action=self.zoom
toolbar.add_subview(zoom)
self.lbl=ui.Label(frame=(H+8,0,zoom.x-2*8-2*H,H),flex='wr')
toolbar.add_subview(self.lbl)
#content
self.content_view = \
ui.View(frame=(0,H,self.width,self.height-H),
flex='wh',
bg_color=(.9,.99,.99,.8))
self.content_view.touch_enabled=False
self.content_view.content_mode = ui.CONTENT_BOTTOM
self.add_subview(self.content_view)
self.resize=ui.ImageView(frame=(self.width-H,self.height-H,H,H))
self.resize.image=ui.Image.named('iob:arrow_resize_32')
self.resize.transform=ui.Transform.rotation(pi/2.)
self.resize.flex='tl'
self.add_subview(self.resize)
self.resize.send_to_back()
self.content_view.send_to_back()
self.resizing=False
self.x=self.last_offset[0]
self.y=self.last_offset[0]
self.last_offset[0]+=H
self.last_offset[1]+=H
if content:
self.content_view.add_subview(content)
content.flex='wh'
self.lbl.text=content.name
#add to top window
self.parent = parent
self.attach()
self.g=Gestures(delegate=self)
self.g.add_pan(self,self.handle_touch_moved)
def handle_touch_moved(self,data):
if hasattr(self,'data'):
dt=data.translation-self.data.translation
else:
dt=data.translation
self.touch_moved(Touch(data.location, data.location-dt, data.state))
self.data=data
if data.state==Gestures.ENDED:
self.data.translation=ui.Point(0,0)
self.touch_ended(Touch(data.location, data.location-dt, data.state))
def connect(self,event,callback):
try:
self.actions[event].append(callback)
except (KeyError, AttributeError):
self.actions[event]=[callback]
def draw(self):
if self._pt:
ui.fill_rect(self._pt[0]-10,self._pt[1]-10,20,20)
def zoom(self,sender):
if self.width<self.w0: #minimized
if self.height==self.TOOLBAR_HEIGHT:
self.toggle(self)
self.width=self.w0
self.height=self.h0
self.content_view.frame=(0,self.TOOLBAR_HEIGHT,self.width,self.height-self.TOOLBAR_HEIGHT)
else:
self.width=200
self.height=75+self.TOOLBAR_HEIGHT
self.content_view.frame=(0,self.TOOLBAR_HEIGHT,self.width,self.height-self.TOOLBAR_HEIGHT)
if not self.content_view.superview and self.height>self.TOOLBAR_HEIGHT:
self.add_subview(self.content_view)
self.content_view.send_to_back()
def toggle(self,sender):
if self.height==self.TOOLBAR_HEIGHT: #reveal
self.height=self.h0
sender.image=ui.Image.named('iob:chevron_down_32')
self.content_view.frame=(0,self.TOOLBAR_HEIGHT,self.width,self.height-self.TOOLBAR_HEIGHT)
if not self.content_view.superview:
self.add_subview(self.content_view)
self.content_view.send_to_back()
self.process_events(self.EVENT_RESIZE)
else: #hide
sender.image=ui.Image.named('iob:chevron_up_32')
self.remove_subview(self.content_view)
self.height=self.TOOLBAR_HEIGHT
def touch_began(self,touch):
l=list(touch.location)
self._pt=l
self.set_needs_display()
if ui.Point(*l) in self.resize.frame:
self.resizing=True
else:
self.resizing=False
self.parent.bringSubviewToFront_(self)
def touch_moved(self,touch):
l=touch.location
p=touch.prev_location
t=l-p
if self.resizing:
#i.e touching bottom corner. update size, limiting width and height
#to reasonable values
self.width+=max(-self.width+3.5*self.TOOLBAR_HEIGHT,t.x)
self.height+=max(-self.height+2*self.TOOLBAR_HEIGHT,t.y)
self.w0=self.width
self.h0=self.height
else:
self.x+=t.x
self.y+=max(-self.y+20,t.y) #do not push above status bar
self.alpha=.5
self.set_needs_display()
def process_events(self,evt):
try:
callbacks= self.actions.get(evt,[])
except AttributeError:
callbacks=[]
for c in callbacks:
c(self)
def touch_ended(self,touch):
self._pt=None
if self.resizing:
self.process_events(self.EVENT_RESIZE)
self.alpha=1.
self.set_needs_display()
def remove(self,sender):
import objc_util
objc_util.ObjCInstance(self).removeFromSuperview()
self.process_events(self.EVENT_CLOSE)
def attach(self):
self.parent.addSubview_(self)
def __del__(self):
# print('deleted overlay')
#for s in self.subviews:
#self.remove_subview(s)
self.remove(self)
def __init__(self,content=None,parent=AppWindows.root(),*args,**kwargs):
if content:
kwargs['frame']=content.bounds.inset(-self.TOOLBAR_HEIGHT,0,0,0)
self.corner_radius=5
ui.View.__init__(self,*args,**kwargs)
self._pt=None
self.actions={}
self.w0=self.width
self.h0=self.height
# setup toolbar
H=self.TOOLBAR_HEIGHT
toolbar=ui.View(frame=(0,0,self.width,self.TOOLBAR_HEIGHT),
bg_color=(.7,.8,.8,.8))
toolbar.flex='w'
self.add_subview(toolbar)
close=ui.Button(frame=(0,0,H,H))
close.image=ui.Image.named('iob:close_32')
close.action=self.remove
toolbar.add_subview(close)
minimize=ui.Button(frame=(self.width,0,-H,H))
minimize.image=ui.Image.named('iob:chevron_down_32')
toolbar.add_subview(minimize)
minimize.flex='L'
minimize.action=self.toggle
zoom=ui.Button(frame=(minimize.x-8,0,-H,H))
zoom.image=ui.Image.named('iob:arrow_expand_32')
zoom.flex='L'
zoom.action=self.zoom
toolbar.add_subview(zoom)
self.lbl=ui.Label(frame=(H+8,0,zoom.x-2*8-2*H,H),flex='wr')
toolbar.add_subview(self.lbl)
#content
self.content_view = \
ui.View(frame=(0,H,self.width,self.height-H),
flex='wh',
bg_color=(.9,.99,.99,.8))
self.content_view.touch_enabled=False
self.content_view.content_mode = ui.CONTENT_BOTTOM
self.add_subview(self.content_view)
self.resize=ui.ImageView(frame=(self.width-H,self.height-H,H,H))
self.resize.image=ui.Image.named('iob:arrow_resize_32')
self.resize.transform=ui.Transform.rotation(pi/2.)
self.resize.flex='tl'
self.add_subview(self.resize)
self.resize.send_to_back()
self.content_view.send_to_back()
self.resizing=False
self.x=self.last_offset[0]
self.y=self.last_offset[0]
self.last_offset[0]+=H
self.last_offset[1]+=H
if content:
self.content_view.add_subview(content)
content.flex='wh'
self.lbl.text=content.name
#add to top window
self.parent = parent
self.attach()
self.g=Gestures(delegate=self)
self.g.add_pan(self,self.handle_touch_moved)
class Overlay(ui.View,OverlayEvent):
'''Overlay class. User adds content to content_view, or as argument'''
TOOLBAR_HEIGHT=20
last_offset=[60,20]
def __new__(cls,content=None,parent=AppWindows.root(),*args,**kwargs):
if not content or not parent:
return None
else:
return ui.View.__new__(cls, content=content,parent=parent, *args, **kwargs)
def recognizer_should_simultaneously_recognize(self,gr,othergr):
#print(gr)
#print(othergr)
return False
def __init__(self,content=None,parent=AppWindows.root(),*args,**kwargs):
if content:
kwargs['frame']=content.bounds.inset(-self.TOOLBAR_HEIGHT,0,0,0)
self.corner_radius=5
ui.View.__init__(self,*args,**kwargs)
self._pt=None
self.actions={}
self.w0=self.width
self.h0=self.height
# setup toolbar
H=self.TOOLBAR_HEIGHT
toolbar=ui.View(frame=(0,0,self.width,self.TOOLBAR_HEIGHT),
bg_color=(.7,.8,.8,.8))
toolbar.flex='w'
self.add_subview(toolbar)
close=ui.Button(frame=(0,0,H,H))
close.image=ui.Image.named('iob:close_32')
close.action=self.remove
toolbar.add_subview(close)
minimize=ui.Button(frame=(self.width,0,-H,H))
minimize.image=ui.Image.named('iob:chevron_down_32')
toolbar.add_subview(minimize)
minimize.flex='L'
minimize.action=self.toggle
zoom=ui.Button(frame=(minimize.x-8,0,-H,H))
zoom.image=ui.Image.named('iob:arrow_expand_32')
zoom.flex='L'
zoom.action=self.zoom
toolbar.add_subview(zoom)
self.lbl=ui.Label(frame=(H+8,0,zoom.x-2*8-2*H,H),flex='wr')
toolbar.add_subview(self.lbl)
#content
self.content_view = \
ui.View(frame=(0,H,self.width,self.height-H),
flex='wh',
bg_color=(.9,.99,.99,.8))
self.content_view.touch_enabled=False
self.content_view.content_mode = ui.CONTENT_BOTTOM
self.add_subview(self.content_view)
self.resize=ui.ImageView(frame=(self.width-H,self.height-H,H,H))
self.resize.image=ui.Image.named('iob:arrow_resize_32')
self.resize.transform=ui.Transform.rotation(pi/2.)
self.resize.flex='tl'
self.add_subview(self.resize)
self.resize.send_to_back()
self.content_view.send_to_back()
self.resizing=False
self.x=self.last_offset[0]
self.y=self.last_offset[0]
self.last_offset[0]+=H
self.last_offset[1]+=H
if content:
self.content_view.add_subview(content)
content.flex='wh'
self.lbl.text=content.name
#add to top window
self.parent = parent
self.attach()
self.g=Gestures(delegate=self)
self.g.add_pan(self,self.handle_touch_moved)
def handle_touch_moved(self,data):
if hasattr(self,'data'):
dt=data.translation-self.data.translation
else:
dt=data.translation
self.touch_moved(Touch(data.location, data.location-dt, data.state))
self.data=data
if data.state==Gestures.ENDED:
self.data.translation=ui.Point(0,0)
self.touch_ended(Touch(data.location, data.location-dt, data.state))
def connect(self,event,callback):
try:
self.actions[event].append(callback)
except (KeyError, AttributeError):
self.actions[event]=[callback]
def draw(self):
if self._pt:
ui.fill_rect(self._pt[0]-10,self._pt[1]-10,20,20)
def zoom(self,sender):
if self.width<self.w0: #minimized
if self.height==self.TOOLBAR_HEIGHT:
self.toggle(self)
self.width=self.w0
self.height=self.h0
self.content_view.frame=(0,self.TOOLBAR_HEIGHT,self.width,self.height-self.TOOLBAR_HEIGHT)
else:
self.width=200
self.height=75+self.TOOLBAR_HEIGHT
self.content_view.frame=(0,self.TOOLBAR_HEIGHT,self.width,self.height-self.TOOLBAR_HEIGHT)
if not self.content_view.superview and self.height>self.TOOLBAR_HEIGHT:
self.add_subview(self.content_view)
self.content_view.send_to_back()
def toggle(self,sender):
if self.height==self.TOOLBAR_HEIGHT: #reveal
self.height=self.h0
sender.image=ui.Image.named('iob:chevron_down_32')
self.content_view.frame=(0,self.TOOLBAR_HEIGHT,self.width,self.height-self.TOOLBAR_HEIGHT)
if not self.content_view.superview:
self.add_subview(self.content_view)
self.content_view.send_to_back()
self.process_events(self.EVENT_RESIZE)
else: #hide
sender.image=ui.Image.named('iob:chevron_up_32')
self.remove_subview(self.content_view)
self.height=self.TOOLBAR_HEIGHT
def touch_began(self,touch):
l=list(touch.location)
self._pt=l
self.set_needs_display()
if ui.Point(*l) in self.resize.frame:
self.resizing=True
else:
self.resizing=False
self.parent.bringSubviewToFront_(self)
def touch_moved(self,touch):
l=touch.location
p=touch.prev_location
t=l-p
if self.resizing:
#i.e touching bottom corner. update size, limiting width and height
#to reasonable values
self.width+=max(-self.width+3.5*self.TOOLBAR_HEIGHT,t.x)
self.height+=max(-self.height+2*self.TOOLBAR_HEIGHT,t.y)
self.w0=self.width
self.h0=self.height
else:
self.x+=t.x
self.y+=max(-self.y+20,t.y) #do not push above status bar
self.alpha=.5
self.set_needs_display()
def process_events(self,evt):
try:
callbacks= self.actions.get(evt,[])
except AttributeError:
callbacks=[]
for c in callbacks:
c(self)
def touch_ended(self,touch):
self._pt=None
if self.resizing:
self.process_events(self.EVENT_RESIZE)
self.alpha=1.
self.set_needs_display()
def remove(self,sender):
import objc_util
objc_util.ObjCInstance(self).removeFromSuperview()
self.process_events(self.EVENT_CLOSE)
def attach(self):
self.parent.addSubview_(self)
def __del__(self):
# print('deleted overlay')
#for s in self.subviews:
#self.remove_subview(s)
self.remove(self)
class CubemosSkeleton:
"""Détection d'un squelette par Cubemos avec un capteur
Intel RealSense.
"""
def __init__(self, **kwargs):
self.ip = kwargs.get('ip', b'localhost')
self.port = kwargs.get('port', 8003)
self.gest = kwargs.get('gestures', 0)
self.specific_message = kwargs.get('specific_message', 0)
self.clt = OscClt(self.ip, self.port)
if self.gest:
self.gestures = Gestures(self.clt)
def render_ids_3d(self, color_image, skeletons_2d, depth_map,
depth_intrinsic, joint_confidence):
"""Calcul les coordonnées 3D des squelettes."""
rows, cols, channel = color_image.shape[:3]
# kernel = distance_kernel_size
kernel = 5
joints_2D = 0
point_3d = None
# A la fin, points_3D = liste de 18
points_3D = [None] * 18
for skeleton_index in range(len(skeletons_2d)):
skeleton_2D = skeletons_2d[skeleton_index]
joints_2D = skeleton_2D.joints
skeleton_id = skeleton_2D.id
for joint_index in range(len(joints_2D)):
# check if the joint was detected and has valid coordinate
if skeleton_2D.confidences[joint_index] > joint_confidence:
distance_in_kernel = []
l = int(joints_2D[joint_index].x - math.floor(kernel / 2))
low_bound_x = max(0, l)
m = int(joints_2D[joint_index].x + math.ceil(kernel / 2))
upper_bound_x = min(cols - 1, m)
n = int(joints_2D[joint_index].y - math.floor(kernel / 2))
low_bound_y = max(0, n)
o = int(joints_2D[joint_index].y + math.ceil(kernel / 2))
upper_bound_y = min(rows - 1, o)
for x in range(low_bound_x, upper_bound_x):
for y in range(low_bound_y, upper_bound_y):
distance_in_kernel.append(
depth_map.get_distance(x, y))
median_distance = np.percentile(
np.array(distance_in_kernel), 50)
depth_pixel = [
int(joints_2D[joint_index].x),
int(joints_2D[joint_index].y)
]
if median_distance >= 0.3:
point_3d = rs.rs2_deproject_pixel_to_point(
depth_intrinsic, depth_pixel, median_distance)
points_3D[joint_index] = point_3d
# Envoi en OSC des points cubemos
if not self.specific_message:
self.clt.send_global_message(points_3D, skeleton_id)
else:
self.clt.send_mutiples_message(points_3D, skeleton_id)
# Reconnaissance de gestes
self.gestures.add_points(points_3D)
def run(self):
# Configure depth and color streams of the intel realsense
config = rs.config()
config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
# Start the realsense pipeline
pipeline = rs.pipeline()
pipeline.start()
# Create align object to align depth frames to color frames
align = rs.align(rs.stream.color)
# Get the intrinsics information for calculation of 3D point
unaligned_frames = pipeline.wait_for_frames()
frames = align.process(unaligned_frames)
depth = frames.get_depth_frame()
depth_intrinsic = depth.profile.as_video_stream_profile().intrinsics
# Initialize the cubemos api with a valid license key in default_license_dir()
skeletrack = skeletontracker(cloud_tracking_api_key="")
joint_confidence = 0.2
# Create window for initialisation
window_name = "Cubemos skeleton tracking with RealSense D400 series"
cv2.namedWindow(window_name, cv2.WINDOW_NORMAL + cv2.WINDOW_KEEPRATIO)
t0 = time()
n = 0
while True:
# Create a pipeline object.
# This object configures the streaming camera and owns it's handle
unaligned_frames = pipeline.wait_for_frames()
frames = align.process(unaligned_frames)
depth = frames.get_depth_frame()
color = frames.get_color_frame()
if not depth or not color:
continue
# Convert images to numpy arrays
# #depth_image = np.asanyarray(depth.get_data())
color_image = np.asanyarray(color.get_data())
# perform inference and update the tracking id
skeletons = skeletrack.track_skeletons(color_image)
# render the skeletons on top of the acquired image and display it
color_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB)
cm.render_result(skeletons, color_image, joint_confidence)
self.render_ids_3d(color_image, skeletons, depth, depth_intrinsic,
joint_confidence)
cv2.imshow(window_name, color_image)
n += 1
t = time()
if t - t0 > 10:
print("FPS =", round(n / 10, 1))
t0 = t
n = 0
if cv2.waitKey(1) == 27:
break
pipeline.stop()
cv2.destroyAllWindows()
self.clt.save()
def create_accessory_toolbar(self):
def create_button(label, func):
button_width = 25
black = ObjCClass('UIColor').alloc().initWithWhite_alpha_(0.0, 1.0)
action_button = ui.Button()
action_button.action = func
accessory_button = ObjCClass(
'UIBarButtonItem').alloc().initWithTitle_style_target_action_(
label, 0, action_button, sel('invokeAction:'))
accessory_button.width = button_width
accessory_button.tintColor = black
return (action_button, accessory_button)
vobj = ObjCInstance(self)
keyboardToolbar = ObjCClass('UIToolbar').alloc().init()
keyboardToolbar.sizeToFit()
Gestures().add_swipe(keyboardToolbar, self.hide_keyboard,
Gestures.DOWN)
Gestures().add_pan(keyboardToolbar, self.move_caret)
button_width = 25
black = ObjCClass('UIColor').alloc().initWithWhite_alpha_(0.0, 1.0)
# Create the buttons
# Need to retain references to the buttons used
# to handle clicks
(self.indentButton,
indentBarButton) = create_button(u'\u21E5', self.indent)
(self.outdentButton,
outdentBarButton) = create_button(u'\u21E4', self.outdent)
(self.quoteButton,
quoteBarButton) = create_button('>', self.block_quote)
(self.linkButton, linkBarButton) = create_button('[]', self.link)
#(self.anchorButton, anchorBarButton) = create_button('<>', self.anchor)
(self.hashButton, hashBarButton) = create_button('#', self.heading)
(self.numberedButton,
numberedBarButton) = create_button('1.', self.numbered_list)
(self.listButton,
listBarButton) = create_button('•', self.unordered_list)
(self.underscoreButton,
underscoreBarButton) = create_button('_', self.insert_underscore)
(self.backtickButton,
backtickBarButton) = create_button('`', self.insert_backtick)
(self.newButton, newBarButton) = create_button('+', self.new_item)
# Flex between buttons
f = ObjCClass('UIBarButtonItem').alloc(
).initWithBarButtonSystemItem_target_action_(5, None, None)
#doneBarButton = ObjCClass('UIBarButtonItem').alloc().initWithBarButtonSystemItem_target_action_(0, vobj, sel('endEditing:'))
keyboardToolbar.items = [
indentBarButton, f, outdentBarButton, f, quoteBarButton, f,
linkBarButton, f, hashBarButton, f, numberedBarButton, f,
listBarButton, f, underscoreBarButton, f, backtickBarButton, f,
newBarButton
]
vobj.inputAccessoryView = keyboardToolbar
def auto_gesture(self):
self.gestures = [Gestures("rock"), Gestures("paper"), Gestures("scissors"), Gestures("lizard"),
Gestures("spock")]
self.random = (random.choices())
print(self.random)
def main():
Gestures().start()
def __init__(self):
self.name = ""
self.gestures = Gestures()
pass