Through the ISP (no colour module), the near-black exposures come out
all zeros, identical every time, so their dequeues change no buffer and
ft-camd never finished learning the side cameras' buffers ("can't tell
which buffers are this camera's yet"): the side pair published nothing.
Such an index is now left unmapped and its frames counted as dark.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
(cherry picked from commit 89ec1608d9)
Without the Arcturus module, XRService runs the side cameras through the
ISP ("ISP enabled for tracking cameras (main VFE available)"): NV12 on
vfe0 and vfe1, pitch 1152. ft-camd published only grey cameras, so it
dropped them, and the recorder stopped at "ft-camd publishes only 2 of 4
mono cameras" whatever was restarted.
- ft-camd reads a tracking camera's NV12 luma as its grey image.
- ft-hands and check_sides name the cameras by XRService's numbering in
its log (TrackingCameraInit index 0-3), not by capture pipe, which
moves with the module; a camera whose size isn't its calibration's is
left out. sides.json says which device each camera was.
- camcheck reports the camera map, the ISP routing and which cameras
ft-camd is missing; the recorder says so instead of "restart it",
restarts its own ft-camd once when that's the only problem, and keeps
the map in session.json.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
(cherry picked from commit 4db5266cf7)
A colour camera probes at most 4 buffers a frame (each probe syncs a
~9 MB buffer's cache, which made the mono cameras miss frames), and one
that goes stale twice in a row is paused (10 s, doubling to 160 s) and
learned again instead of ft-camd exiting. The colour cameras run at 2 fps
until a reader asks for more in frametop-hands/color-fps, which saves
most of their decoding while only their brightness is needed. Each mono
camera's latest near-black frame's mean goes in the ring (dark_mean), a
measure of the room's IR light. The service now starts with --with-color;
HANDS_CAMERAS=mono leaves the colour cameras out.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
- The runtime files move to /run/user/UID/frametop-hands/: the desktop
session deletes /run/user/UID/frametop at every start.
- The cutout copy shader runs at highp: mediump (16-bit on Adreno)
stepped 1.7 texels across a 3440-pixel screen.
- One hand no longer pinches both sides after its left/right call flips
mid-pinch, and --pinch-palm-down (0.6) holds back pinches with the palm
facing down (typing on a lap keyboard).
- ft-camd judges a colour frame fresh by its luma rows only, and logs
per-buffer changes at stale colour frames with FT_CAMD_DEBUG=1.
- hands/run.sh caps skips the setcap when ft-camd already has them.
- The replay tool dumps poses (--poses), and its pinch events carry the
hand id.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
- Programs: ft-camd (the camera broker), ft-hands (the tracker), and
ft-handreplay and ft-ringplay for recordings, built by hands/build.sh
into hands/build/ with one Makefile. The first build fetches ncnn at
frame-hands' pinned tag and builds it with the same options.
- ft-camd gets its privileges from file capabilities (CAP_SYS_PTRACE,
CAP_PERFMON, CAP_DAC_READ_SEARCH) that hands/run.sh install sets with
sudo, and drops them once set up. It still works under sudo. It runs
on the host, linked statically, as frametop-camd.service. ft-hands
runs in the dev container as frametop-hands.service. Both start and
stop with SteamVR.
- Files move to /run/user/UID/frametop/ (cam-ring, hands, gestures),
not $XDG_RUNTIME_DIR, which a terminal in the Frametop desktop has
its own of. SIGUSR1 recordings go to ~/.local/share/frametop/hands.
- The calibration is read through /run/host in the container.
- Settings: HANDS_SWAP_SIDES and HANDS_CPUS in frametop.conf.
- install.sh offers hand tracking as an optional last step.
- The container gets jsoncpp-devel, glibc-static, and NumPy and OpenCV
for the Python tools.
- tools/ring.py reads the ring, and models/NOTICE credits the
Apache-2.0 models.
Checked: ft-handreplay gives identical summaries and byte-identical
depth dumps to frame-hands' fh-replay on both 2026-09-29 recordings.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
The history of frame-hands (~/Desktop/Projects/frame-hands on the
Frame), filtered to what moves: the camera broker (camd/), the tracker
and its offline tools (trackd/), the shared file layouts (include/), the
ncnn models, the analysis tools, and the calibration and model helpers
they import from the Python prototype. The reverse-engineering notes,
probes, camprobe, and the rest of the prototype stay in frame-hands.
Unchanged here: the renames to ft- names and Frametop paths follow.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
DeeJanuz