ft-hands tracks with the mono IR cameras in dim light and with every
camera (or the colour pair, HANDS_BRIGHT) in bright light, going by the
colour frames' mean brightness with hysteresis and a 2 s hold
(HANDS_CAMERAS=auto, the default; mono, color and all fix it). Colour
frames are placed on the mono cameras' clock by their dequeue time, and a
view in a camera a step lacks waits for that camera's next frame.
A grip (a closed hand) is a second gesture next to the pinch, in version 2
of the gestures file: every fingertip curled toward the wrist, beginning
only on a hand seen open within a second and held up in front. On the
2026-09-30 lit recording that leaves 6 false grips of 14, all with the
hands on the desk; pinch counts are unchanged. ft-handreplay logs grips
and finger curl, watch_gestures.py shows them, and tools/cut_sets.py
copies a few sets out of a recording.
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>
