moving peopledetector in main file

reachy_mini_red_light_green_light/main.py

@@ -11,7 +11,51 @@ from reachy_mini.reachy_mini import (
     SLEEP_HEAD_JOINT_POSITIONS,
     SLEEP_ANTENNAS_JOINT_POSITIONS,
 )
-from reachy_mini_redlight_green_light.people_detector import PeopleDetector
+import cv2
+import mediapipe as mp
+
+UPPER_BODY_LANDMARKS = [11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22]
+
+
+class PeopleDetector:
+    def __init__(self, model_path="pose_landmarker_full.task", max_poses=5):
+        # Initialisation de MediaPipe Tasks
+        BaseOptions = mp.tasks.BaseOptions
+        PoseLandmarker = mp.tasks.vision.PoseLandmarker
+        PoseLandmarkerOptions = mp.tasks.vision.PoseLandmarkerOptions
+        VisionRunningMode = mp.tasks.vision.RunningMode
+
+        self.pose_landmarker = PoseLandmarker.create_from_options(
+            PoseLandmarkerOptions(
+                base_options=BaseOptions(model_asset_path=model_path),
+                running_mode=VisionRunningMode.IMAGE,
+                num_poses=max_poses,
+            )
+        )
+
+    def detect(self, frame, draw=True):
+        mp_image = mp.Image(
+            image_format=mp.ImageFormat.SRGB,
+            data=cv2.cvtColor(frame, cv2.COLOR_BGR2RGB),
+        )
+        result = self.pose_landmarker.detect(mp_image)
+
+        h, w, _ = frame.shape
+        detected_people = []
+
+        if result.pose_landmarks:
+            for person_landmarks in result.pose_landmarks:
+                person = {"landmarks": []}
+                for idx, lm in enumerate(person_landmarks):
+                    if idx not in UPPER_BODY_LANDMARKS:
+                        continue
+                    cx, cy = int(lm.x * w), int(lm.y * h)
+                    person["landmarks"].append((cx, cy))
+                    if draw:
+                        cv2.circle(frame, (cx, cy), 3, (0, 255, 0), -1)
+                detected_people.append(person)
+
+        return frame, detected_people
 
 
 class RedLightGreenLightApp(ReachyMiniApp):