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
28 lines
964 B
Python
28 lines
964 B
Python
from hermes_face.gaze import Target, gaze_from_pixel, pick_target
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def test_centre_is_straight_ahead():
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assert gaze_from_pixel(648, 486, 1296, 972) == (0.0, 0.0)
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def test_person_on_the_image_right_is_the_viewers_left_on_the_display():
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gx, gy = gaze_from_pixel(1296, 486, 1296, 972)
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assert gx == -1.0 and gy == 0.0
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def test_person_high_in_the_image_is_up_on_the_display():
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assert gaze_from_pixel(648, 0, 1296, 972) == (0.0, -1.0)
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def test_off_image_positions_are_clamped():
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assert gaze_from_pixel(5000, -5000, 1296, 972) == (-1.0, -1.0)
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def test_pick_target_prefers_a_recognised_face_then_the_biggest():
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small_known = Target(100, 100, 50, 60, 0.9, 'owner')
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big_unknown = Target(500, 400, 300, 400, 0.9, '')
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mid_unknown = Target(300, 300, 200, 250, 0.9, '')
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assert pick_target([big_unknown, small_known]) is small_known
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assert pick_target([mid_unknown, big_unknown]) is big_unknown
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assert pick_target([]) is None
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