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debouncer.py
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debouncer.py
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class Debouncer:
def __init__(self, detect_threshold=0.6, noise_threshold=0.3, memory_length=12, min_num_detections=3):
# Based on https://dl.acm.org/doi/pdf/10.1145/3411764.3445367
self.detect_threshold = detect_threshold
self.noise_threshold = noise_threshold,
self.memory_length = memory_length
self.min_num_detection = min_num_detections
self.frame_memory = []
self.detection_memory = []
def add_scan(self, frame):
if len(self.frame_memory) > 0 and len(self.frame_memory) + 1 == self.memory_length:
self.frame_memory.pop(0)
self.frame_memory.append(frame)
def get_scans(self):
return self.frame_memory
def debounce(self, probs):
detected_actions = (probs > self.detect_threshold).nonzero()[0]
if len(detected_actions) != 1:
if len(detected_actions) == 0:
print('Not sure about the action')
else:
print(f'Not sure about the action. There are {len(detected_actions)} possibilities')
return None
noise_actions = probs[probs < self.noise_threshold]
if len(noise_actions) != len(probs) - 1:
return None
main_action = detected_actions[0]
if len(self.detection_memory) > 0 and len(self.detection_memory) + 1 >= self.min_num_detection:
self.detection_memory.pop(0)
self.detection_memory.append(main_action)
if all(self.detection_memory == main_action):
return main_action
else:
return None