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Lay out hands/ like Frametop's other components

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trackd/ becomes track/, and the calibration helper the Python tools
import moves from the prototype's folder into tools/. The model
development tools (nettest and the scripts that compare it with the
Python models or cut int8 calibration crops) stay in frame-hands with
the prototype they need.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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DeeJanuzandClaude Opus 5.5 committed 2026-09-30 09:01:10 -06:00
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hands/track/main.cpp
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// fh-tracker: hands in 3D from fh-camd's ring, published for Frametop's ft-screens.
// The C++ version of tracker/live.py: the same scheduling, with the models on a few
// threads and no Python in the loop.
//
// fh-tracker [--seconds N] [--threads N] [--int8] [--status S] [--models DIR] [--nice N]
// [--no-publish] [--record DIR] [--swap-sides] ... (--help lists them all)
#include "io.h"
#include "pinch.h"
#include "record.h"
#include <sched.h>
#include <sys/resource.h>
#include <sys/stat.h>
#include <unistd.h>
#include <ctime>
#include <memory>
#include <csignal>
#include <cstdio>
#include <cstring>
#include <fstream>
#include <thread>
#include <utility>
namespace {
volatile std::sig_atomic_t g_stop = 0, g_record = 0;
// which calibrated camera each capture pipe carries (XRService's fixed routing)
const char *camera_for_pipe(int node) {
char path[64], name[64] = "";
std::snprintf(path, sizeof path, "/sys/class/video4linux/video%d/name", node);
std::ifstream f(path);
f.getline(name, sizeof name);
if (!std::strcmp(name, "msm_vfe3_video0")) return "slam_left";
if (!std::strcmp(name, "msm_vfe4_video0")) return "slam_right";
if (!std::strcmp(name, "msm_vfe2_video0")) return "upper_left";
if (!std::strcmp(name, "msm_vfe2_video1")) return "upper_right";
return nullptr;
}
double cpu_seconds() {
rusage r;
getrusage(RUSAGE_SELF, &r);
return r.ru_utime.tv_sec + r.ru_stime.tv_sec + (r.ru_utime.tv_usec + r.ru_stime.tv_usec) / 1e6;
}
} // namespace
int main(int argc, char **argv) {
double seconds = 0, status = 5;
int threads = 3, niceness = 5;
bool int8 = false, publish = true, track = true, swap_sides = false;
std::string models = std::string(argv[0]).substr(0, std::string(argv[0]).rfind('/') + 1) + "../models/ncnn";
std::string record, ring_path = FH_RING_PATH;
// SteamOS starts user processes on CPUs 0-4 and keeps 5-7 (two A720s and the X4) for
// SteamVR's compositor, whose threads there run at real-time priority, so they always
// win. XRService pins its head tracking to 2-3. probes/core_ab.py (2026-09-29, headset
// on, 3 rounds): on 5-7 a step took 8.4 ms against 13.2 on 2-4, latency 9.6 against
// 14.1 ms, and the compositor's late frames and CPU/GPU time didn't change.
std::vector<int> cpus = {5, 6, 7};
// How crops are equalized. CLAHE helps the palm search find hands (about 10% more in the
// dim recording), but makes the landmarks jitter, so they get plain crops.
Contrast palm_contrast, hand_contrast{Contrast::None};
double keep_presence = 0.5; // landmark presence a tracked view needs to stay
PinchParams pinch_params;
double record_for = 120;
for (int i = 1; i < argc; ++i) {
const std::string a = argv[i];
const bool more = i + 1 < argc;
if (a == "--seconds" && more) seconds = std::atof(argv[++i]);
else if (a == "--threads" && more) threads = std::max(1, std::atoi(argv[++i]));
else if (a == "--status" && more) status = std::atof(argv[++i]);
else if (a == "--models" && more) models = argv[++i];
else if (a == "--nice" && more) niceness = std::atoi(argv[++i]);
else if (a == "--int8") int8 = true;
else if (a == "--no-publish") publish = false;
else if (a == "--pinch-begin" && more) pinch_params.begin_m = std::atof(argv[++i]);
else if (a == "--pinch-end" && more) pinch_params.end_m = std::atof(argv[++i]);
else if (a == "--pinch-triangulated") pinch_params.triangulated = true;
else if (a == "--swap-sides") swap_sides = true;
else if (a == "--record-only") track = publish = false;
else if (a == "--ring" && more) ring_path = argv[++i];
else if (a == "--record" && more) record = argv[++i];
else if (a == "--record-for" && more) record_for = std::atof(argv[++i]);
else if (a == "--keep-presence" && more) keep_presence = std::atof(argv[++i]);
else if (a == "--contrast" && more) {
if (!Contrast::parse_pair(argv[++i], palm_contrast, hand_contrast))
return std::fprintf(stderr, "--contrast MODE or PALM/HAND, each clahe[:CLIP]|none|stretch\n"), 1;
} else if (a == "--cpus" && more) {
cpus.clear();
for (char *p = argv[++i]; *p;) {
cpus.push_back(int(std::strtol(p, &p, 10)));
if (*p == ',') ++p;
else if (*p) break;
}
if (cpus.empty()) cpus = {5, 6, 7};
}
else {
std::printf("usage: %s [--seconds N] [--threads N] [--int8] [--status S] [--models DIR] [--nice N] [--no-publish]\n"
" [--record DIR] [--record-for S] [--record-only] [--cpus 5,6,7] [--swap-sides]\n"
" [--keep-presence P] (0.5) [--ring PATH] (fh-camd's, or fh-ringplay's)\n"
" [--pinch-begin M] (0.020) [--pinch-end M] (0.035) [--pinch-triangulated]\n"
" [--contrast MODE|PALM/HAND] (clahe[:CLIP], none, stretch; default clahe:2/none)\n"
"Recording saves every frame set for S seconds (120) to DIR/sets.bin, for fh-replay; SIGUSR1\n"
"starts one in captures/rec-<time> next to trackd. --record-only records without tracking, so it\n"
"can run beside a tracking fh-tracker. With fh-camd --with-dark, recordings also get each\n"
"camera's newest dark frame, as <name>_dk; with --with-color, the color cameras' as color_video<N>.\n",
argv[0]);
return a == "--help" ? 0 : 1;
}
}
if (nice(niceness) < 0) std::perror("nice"); // the VR stack wins contested CPUs
std::signal(SIGINT, [](int) { g_stop = 1; });
std::signal(SIGTERM, [](int) { g_stop = 1; });
std::signal(SIGUSR1, [](int) { g_record = 1; });
std::string err;
std::map<std::string, Camera> calib;
Ring ring;
Nets nets;
Publisher pub;
GesturePublisher gestures;
Pinch pinch(pinch_params);
std::unique_ptr<Recorder> rec;
uint64_t rec_start = 0;
auto start_recording = [&](const std::string &dir, std::string &e) {
rec = std::make_unique<Recorder>();
if (!rec->open(dir, e)) return rec.reset(), false;
rec_start = mono_ns();
std::printf("recording to %s for %.0f s\n", dir.c_str(), record_for);
std::fflush(stdout);
return true;
};
if (!load_calibration(calib, err) || !ring.open(ring_path.c_str(), err) || !nets.load(models, int8, err) ||
(publish && (!pub.open(err) || !gestures.open(pinch, err))) || (!record.empty() && !start_recording(record, err))) {
std::fprintf(stderr, "%s\n", err.c_str());
return 1;
}
if (!ring.alive()) return std::fprintf(stderr, "fh-camd isn't running (no heartbeat)\n"), 1;
std::map<std::string, int> index; // calibration name -> ring camera
// Recorded only, not tracked: "<name>_dk" (fh-camd --with-dark) and "color_video<N>"
// (--with-color; which is left and right is up to tools/check_color.py). Recorded names
// hold 15 characters, so "upper_right_dark" wouldn't fit.
std::map<std::string, int> dark;
std::map<std::string, Camera> used;
for (int i = 0; i < ring.cameras(); ++i) {
if (ring.camera(i).flags & FH_CAM_COLOR) {
dark["color_video" + std::to_string(ring.camera(i).node)] = i;
continue;
}
// fh-camd's cameras by capture pipe; fh-ringplay's (no device) by the name it gives
const char *name = camera_for_pipe(ring.camera(i).node);
if (!name && ring.camera(i).node < 0) name = ring.camera(i).name;
if (!name || !calib.count(name)) continue;
if (ring.camera(i).flags & FH_CAM_DARK) dark[std::string(name) + "_dk"] = i;
else index[name] = i, used[name] = calib[name];
}
// fh-camd tells the side cameras' buffers apart by XRService's allocation order, which
// some XRService restarts reverse; tools/check_sides.py --ring tells when.
if (swap_sides && index.count("slam_left") && index.count("slam_right")) {
std::swap(index["slam_left"], index["slam_right"]);
if (dark.count("slam_left_dk") && dark.count("slam_right_dk")) std::swap(dark["slam_left_dk"], dark["slam_right_dk"]);
std::printf("side cameras swapped (--swap-sides)\n");
}
std::printf("cameras:");
for (auto &[name, i] : index) std::printf(" %s=video%d", name.c_str(), ring.camera(i).node);
std::printf(" models: %s%s, %d threads on CPUs", models.c_str(), int8 ? " (int8)" : "", threads);
for (int c : cpus) std::printf(" %d", c);
std::printf("\n");
cpu_set_t set; // the main loop too
CPU_ZERO(&set);
for (int c : cpus) CPU_SET(c, &set);
if (sched_setaffinity(0, sizeof set, &set) < 0) std::perror("sched_setaffinity");
nets.set_contrast(palm_contrast, hand_contrast);
Pool pool(threads, cpus);
Tracker tracker(used, nets, pool);
tracker.set_keep_presence(keep_presence);
std::map<std::string, std::vector<uint8_t>> pixels;
std::map<std::string, uint64_t> last;
const uint64_t start = mono_ns();
uint64_t t_status = start, next_ns = 0;
double cpu0 = cpu_seconds();
std::vector<double> lat;
double hands_sum = 0, resid_sum = 0;
int resid_n = 0, left_sets = 0, right_sets = 0, both_sets = 0;
while (!g_stop && (seconds <= 0 || (mono_ns() - start) / 1e9 < seconds)) {
if (!ring.alive()) return std::fprintf(stderr, "fh-camd stopped\n"), 2;
// a new frame set: every camera has a newer frame, taken at the same moment
std::map<std::string, uint64_t> latest;
bool ready = true;
for (auto &[name, i] : index) {
latest[name] = ring.latest(i);
ready = ready && latest[name] > last[name];
}
if (!ready) {
std::this_thread::sleep_for(std::chrono::milliseconds(2));
continue;
}
// not needed at the current rate, and not recorded: skip it without copying images
if (track && !rec && !g_record) {
uint64_t t0 = UINT64_MAX, t1 = 0;
bool ok = true;
for (auto &[name, i] : index) {
fh_ring_slot_t meta;
ok = ok && ring.meta(i, latest[name], &meta);
if (ok) t0 = std::min(t0, meta.capture_ns), t1 = std::max(t1, meta.capture_ns);
}
if (ok && t1 - t0 <= 3'000'000 && t0 < next_ns) {
last = latest;
continue;
}
}
std::map<std::string, Image> images;
std::vector<SetFrame> frames;
uint64_t tmin = UINT64_MAX, tmax = 0, dq = 0;
bool ok = true;
for (auto &[name, i] : index) {
fh_ring_slot_t meta;
ok = ok && ring.read(i, latest[name], pixels[name], &meta);
if (!ok) break;
const auto &c = ring.camera(i);
images[name] = {pixels[name].data(), int(c.width), int(c.height), int(c.width)};
frames.push_back({name, pixels[name].data(), c.width, c.height, meta.capture_ns, meta.dqbuf_ns});
tmin = std::min(tmin, meta.capture_ns), tmax = std::max(tmax, meta.capture_ns), dq = std::max(dq, meta.dqbuf_ns);
}
if (!ok || tmax - tmin > 3'000'000) { // torn, or a camera is a frame behind
std::this_thread::sleep_for(std::chrono::milliseconds(1));
continue;
}
last = latest;
if (g_record && !rec) {
g_record = 0;
char name[64];
const std::time_t now = std::time(nullptr);
std::strftime(name, sizeof name, "rec-%Y%m%d-%H%M%S", std::localtime(&now));
const std::string here = std::string(argv[0]).substr(0, std::string(argv[0]).rfind('/') + 1);
const std::string dir = here + "../captures";
mkdir(dir.c_str(), 0755);
std::string e;
if (!start_recording(dir + "/" + name, e)) std::fprintf(stderr, "%s\n", e.c_str());
}
if (rec) { // about 80 MB/s; dark frames double that, color frames add 70 MB/s
if ((mono_ns() - rec_start) / 1e9 < record_for) {
for (auto &[name, i] : dark) { // the newest dark and color frames, as they are
fh_ring_slot_t meta;
const uint64_t n = ring.latest(i);
const auto &c = ring.camera(i);
if (n && ring.read(i, n, pixels[name], &meta))
frames.push_back({name, pixels[name].data(), c.width, c.height, meta.capture_ns, meta.dqbuf_ns});
}
rec->add(frames);
} else {
const size_t n = rec->written(), d = rec->dropped();
rec.reset(); // writes out what's queued
std::printf("recording done: %zu sets, %zu dropped\n", n, d);
std::fflush(stdout);
if (!track) break;
}
}
if (!track && rec && status > 0 && (mono_ns() - t_status) / 1e9 >= status) {
std::printf("%5.1fs recorded %zu sets, dropped %zu\n", (mono_ns() - start) / 1e9, rec->written(), rec->dropped());
std::fflush(stdout);
t_status = mono_ns();
}
if (!track || tmin < next_ns) continue; // not needed yet at the current rate
const auto hands = tracker.step(images, int64_t(tmin));
const uint64_t capture = uint64_t(int64_t(tmin) - raw_minus_mono_ns()); // CLOCK_MONOTONIC
pinch.update(hands, tracker.views_now(), int64_t(capture));
// a pinch down or closing gets the full rate, even while the palm holds still
next_ns = tmin + uint64_t((std::min(tracker.interval(), pinch.engaged() ? 1 / 30.0 : 1.0) - 0.005) * 1e9);
if (publish) pub.write(hands, capture), gestures.write(pinch, capture);
for (const Pinch::Event &e : pinch.events) {
std::printf("pinch %s %-5s d %.3f m at %+.3f %+.3f %+.3f\n", e.side ? "right" : "left ", e.what, e.distance,
e.point[0], e.point[1], e.point[2]);
std::fflush(stdout);
}
lat.push_back((mono_ns() - dq) / 1e6);
hands_sum += double(hands.size());
bool on_left = false, on_right = false; // by where the wrist is, not the model's label
for (const Hand *h : hands) {
if (h->residual >= 0) resid_sum += h->residual * 1000, ++resid_n;
(h->pts[0][0] < 0 ? on_left : on_right) = true;
}
left_sets += on_left, right_sets += on_right, both_sets += on_left && on_right;
const uint64_t now = mono_ns();
if (status > 0 && (now - t_status) / 1e9 >= status) {
const double dt = (now - t_status) / 1e9, cpu1 = cpu_seconds();
const Stats &s = tracker.stats;
std::sort(lat.begin(), lat.end());
std::printf("%5.1fs %4.1f sets/s hands %.2f views %zu palm %3d calls %4.1f ms/batch hand %3d calls %4.1f ms/batch "
"step %4.1f ms latency %4.1f ms resid %.1f mm CPU %3.0f%%\n",
(now - start) / 1e9, s.sets / dt, s.sets ? hands_sum / s.sets : 0, tracker.views(), s.palm_calls,
s.palm_batches ? s.palm_ms / s.palm_batches : 0, s.hand_calls,
s.hand_batches ? s.hand_ms / s.hand_batches : 0, s.sets ? s.step_ms / s.sets : 0,
lat.empty() ? 0 : lat[lat.size() / 2], resid_n ? resid_sum / resid_n : 0, 100 * (cpu1 - cpu0) / dt);
if (s.sets)
std::printf(" sets with a hand: left %2.0f%% right %2.0f%% both %2.0f%% views lost %d, handoff misses %d, "
"dups %d, splits %d hands new %d merged %d forgotten %d%s\n",
100.0 * left_sets / s.sets, 100.0 * right_sets / s.sets, 100.0 * both_sets / s.sets, s.lost,
s.handoff_miss, s.dups, s.splits, s.created, s.merged, s.forgotten,
!rec ? "" : (" recorded " + std::to_string(rec->written()) + " dropped " +
std::to_string(rec->dropped())).c_str());
std::printf(" pinches: left %u right %u", pinch.side(0).begins, pinch.side(1).begins);
for (int k = 0; k < 2; ++k)
if (pinch.side(k).flags & FH_PINCH_TRACKED)
std::printf(" %s %s d %.3f", k ? "right" : "left", pinch.side(k).flags & FH_PINCH_DOWN ? "DOWN" : "open",
pinch.side(k).distance);
std::printf("\n");
for (const Hand *h : hands)
std::printf(" hand %d %-5s views %d wrist %+.3f %+.3f %+.3f m scale %.2f speed %.2f m/s\n", h->id,
h->right() ? "right" : "left", h->nviews, h->pts[0][0], h->pts[0][1], h->pts[0][2], h->scale,
h->speed);
std::fflush(stdout);
tracker.stats = Stats{};
t_status = now, cpu0 = cpu1;
lat.clear(), hands_sum = 0, resid_sum = 0, resid_n = 0, left_sets = right_sets = both_sets = 0;
}
}
if (publish) {
pub.write({}, mono_ns());
pinch.release(int64_t(mono_ns())); // a drag in progress ends, as lost
gestures.write(pinch, mono_ns());
}
return 0;
}