- fh-camd --with-color publishes the Arcturus colour pair (luma, half
size, 30 fps) to the ring, flagged FH_CAM_COLOR. fh-tracker records
them, and fh-replay --cams mono|color|all tracks with them, using the
module's EEPROM calibration (load_color_calibration).
tools/check_color.py checks which node is left and how the crop maps.
- Pinch detection per hand (trackd/pinch.h), published to
$XDG_RUNTIME_DIR/frame-hands/gestures (include/fh_gestures.h). It has
begin and end counters, times, the pinch point, and the begin point
for drags. tools/watch_gestures.py shows it live, and fh-replay
reports it.
- fh-replay --depth and tools/depth_report.py measure the depth without
ground truth: noise along the line of sight against across it, the
one-camera guess, and a simulated camera loss.
- fh-tracker --swap-sides, --ring, --keep-presence, --record-only.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
fh-camd (camd/) borrows XRService's camera buffers and publishes the tracking
cameras' frames to a shared ring. fh-tracker (trackd/) finds hands in them with
MediaPipe's palm and landmark models on ncnn, triangulates them in 3D, and
publishes them for ft-screens. fh-replay replays recordings offline. tracker/ is
the earlier Python version; tools/ and probes/ hold the checks and experiments.
As of this commit: crop contrast defaults to CLAHE for the palm search and plain
crops for the landmarks, --swap-sides works around fh-camd naming the side
cameras backwards after some XRService restarts (tools/check_sides.py detects
it), and --record-only, --with-dark, --cpus and --keep-presence support the
bright-light and CPU-placement tests.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
