Code pour le jalon 3

coquille/Jalon2OPTI.py

@@ -157,7 +157,7 @@ while True:
     h, w, _ = frame.shape                                               # Extrait les dimensions de l'image
 
     rgb_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)                      # Convertit l'image BGR en RGB
-    mp_image = Image(image_format=ImageFormat.SRGB, data=rgb_frame)         # Englobe le tableau numpy dans un objet Iage Mediapipe
+    mp_image = Image(image_format=ImageFormat.SRGB, data=rgb_frame)         # Englobe le tableau numpy dans un objet Image Mediapipe
 
     timestamp_ms = int(timestamp * 1000)
     results = detector.detect_for_video(mp_image, timestamp_ms)                              # Detection des landmarks

coquille/Jalon3.py

@@ -0,0 +1,96 @@
+import threading
+from reachy_mini import ReachyMini, ReachyMiniApp
+from reachy_mini.utils import create_head_pose
+import numpy as np
+import time
+from pydantic import BaseModel
+import csv
+
+
+class Test(ReachyMiniApp):
+    # Optional: URL to a custom configuration page for the app
+    # eg. "http://localhost:8042"
+    custom_app_url: str | None = "http://0.0.0.0:8042"
+    # Optional: specify a media backend ("gstreamer", "gstreamer_no_video", "default", etc.)
+    # On the wireless, use gstreamer_no_video to optimise CPU usage if the app does not use video streaming
+    request_media_backend: str | None = None
+
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+        t0 = time.time()
+
+        antennas_enabled = True
+        sound_play_requested = False
+
+        # You can ignore this part if you don't want to add settings to your app. If you set custom_app_url to None, you have to remove this part as well.
+        # === vvv ===
+        class AntennaState(BaseModel):
+            enabled: bool
+
+        @self.settings_app.post("/antennas")
+        def update_antennas_state(state: AntennaState):
+            nonlocal antennas_enabled
+            antennas_enabled = state.enabled
+            return {"antennas_enabled": antennas_enabled}
+
+        @self.settings_app.post("/play_sound")
+        def request_sound_play():
+            nonlocal sound_play_requested
+            sound_play_requested = True
+
+        # === ^^^ ===
+
+        # Main control loop
+        while not stop_event.is_set():
+            with open('resultats.csv', newline='') as csvfile:
+                reader = csv.DictReader(csvfile)
+                rows = list(reader)
+                
+                val_bouche = [float(r["bouche"]) for r in rows]
+                bouche_min = min(val_bouche)
+                bouche_max = max(val_bouche)
+
+                val_norm_x = [float(r["norm_x"]) for r in rows]
+                norm_x_min = min(val_norm_x)
+                norm_x_max = max(val_norm_x)
+                
+                val_norm_y = [float(r["norm_y"]) for r in rows]
+                norm_y_min = min(val_norm_y)
+                norm_y_max = max(val_norm_y)
+
+                val_oeil_g = [float(r["oeil_g"]) for r in rows]
+                oeil_g_min = min(val_oeil_g)
+                oeil_g_max = max(val_oeil_g)
+
+                val_oeil_d = [float(r["oeil_d"]) for r in rows]
+                oeil_d_min = min(val_oeil_d)
+                oeil_d_max = max(val_oeil_d)
+    
+                last_timestamp = 0
+                for row in rows:
+                    x_pos = ((float(row["bouche"]) - bouche_min) / (bouche_max - bouche_min))*0.02-0.01
+                    y_pos = ((float(row["norm_x"]) - norm_x_min) / (norm_x_max - norm_x_min))*0.06-0.03
+                    z_pos = ((float(row["norm_y"]) - norm_y_min) / (norm_y_max - norm_y_min))*0.015-0.0075
+                    pitch_deg = ((float(row["pitch"])+180) % 360)
+                    yaw_deg = float(row["yaw"])
+                    roll_deg = float(row["roll"])
+                    if antennas_enabled:
+                        amp_deg = 50.0
+                        g = ((float(row["oeil_g"]) - oeil_g_min) / (oeil_g_max - oeil_g_min))*amp_deg
+                        d = ((float(row["oeil_d"]) - oeil_d_min) / (oeil_d_max - oeil_d_min)) * amp_deg
+                        antennas_deg = np.array([-g, d])
+                    else:
+                        antennas_deg = np.array([0.0, 0.0])
+                    antennas_rad = np.deg2rad(antennas_deg)
+                    head_pose = create_head_pose(x=x_pos, y=y_pos, z=z_pos, pitch = pitch_deg, yaw = -yaw_deg, roll = roll_deg)
+                    reachy_mini.set_target(head=head_pose, antennas=antennas_rad)
+                    print(row["timestamp"])
+                    time.sleep(float(row['timestamp']) - last_timestamp)
+                    last_timestamp = float(row['timestamp'])
+
+
+if __name__ == "__main__":
+    app = Test()
+    try:
+        app.wrapped_run()
+    except KeyboardInterrupt:
+        app.stop()