kyleandClaude Sonnet 5.5
f8525c5526
hermes_face now subscribes to /vision/faces and glances toward the best face (a recognised one first, then the biggest), smoothed, holding 2.5 s and drifting back to centre when none is seen. Sleeping ignores gaze. Image x flips on the display: the camera looks the way the robot faces, so a person on the image's right is on the robot's right, the viewer's left. Fix the pan sign carried over from the prototype: positive pan is the robot's left (the MCP contract), which is the viewer's right on the display. robot-face.service starts the face at boot and restarts it on failure, with a private working directory because lgpio drops a notification pipe in its cwd and systemd's default / is not writable. robot-cpu-performance.service holds the CPU at full clock, which halves the face's CPU cost. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
32 lines
1.2 KiB
Python
32 lines
1.2 KiB
Python
"""Where the eyes should look, given where faces are in the camera image. No ROS imports."""
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from __future__ import annotations
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from typing import NamedTuple, Optional, Sequence
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class Target(NamedTuple):
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cx: float # face centre, pixels
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cy: float
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w: float # face size, pixels
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h: float
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score: float = 1.0
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name: str = '' # who, if recognised
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def pick_target(faces: Sequence[Target]) -> Optional[Target]:
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"""A recognised face wins over an unknown one; otherwise the biggest, most confident face."""
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if not faces:
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return None
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return max(faces, key=lambda f: (bool(f.name), f.w * f.h * f.score))
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def gaze_from_pixel(cx: float, cy: float, width: float, height: float) -> tuple[float, float]:
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"""Image position -> eye direction (+x the viewer's right, +y down), each in [-1, 1].
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The camera looks the way the robot faces, so a person on the right of the image is on the
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robot's right, which is the viewer's left on the display: x flips, y does not.
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"""
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gx = (cx - width / 2.0) / (width / 2.0)
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gy = (cy - height / 2.0) / (height / 2.0)
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return -max(-1.0, min(1.0, gx)), max(-1.0, min(1.0, gy))
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