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DeeJanuzandClaude Opus 5.5
50c14545ed
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>
96 lines
4.4 KiB
Python
96 lines
4.4 KiB
Python
"""Watch the gestures ft-hands publishes, live: pinches and grips, begins, ends, and drags.
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usage: python3 tools/watch_gestures.py [--every S] [--distance]
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Prints a line when a pinch or a grip (a closed hand) begins or ends on either hand. It goes
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by the counters, so a quick tap between two reads still shows. While one is held, every
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--every seconds (default 0.1) it prints how far its point has moved since it began, in the
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head frame (turning your head moves it too; a real consumer turns both points into the room
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first, see include/fh_gestures.h). --distance also prints each hand's thumb-to-index
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distance and finger curl, to see how close a gesture comes to the thresholds.
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Version 1 files (pinches only) still work.
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"""
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import argparse
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import mmap
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import os
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import struct
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import time
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HDR = struct.Struct('<8sIIQQQffff8x') # 64 bytes
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SLOT = struct.Struct('<IIIIQQff3f3f') # 64 bytes
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TRACKED, DOWN, LOST = 1, 2, 4
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SIDES = ('left ', 'right')
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KINDS = ('pinch', 'grip ')
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def path():
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return '/run/user/%d/frametop-hands/gestures' % os.getuid()
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def read(m):
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"""(header, [[pinch left, right], [grip left, right]]) under the sequence lock, or None
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if it's being written. Version 1 has no grips: they read as all zero."""
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for _ in range(10):
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s1 = struct.unpack_from('<Q', m, 16)[0]
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if s1 % 2 == 0:
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h = HDR.unpack_from(m, 0)
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kinds = 2 if h[1] >= 2 and len(m) >= HDR.size + 4 * SLOT.size else 1
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g = [[SLOT.unpack_from(m, HDR.size + (k * 2 + s) * SLOT.size) for s in range(2)] for k in range(kinds)]
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if kinds == 1:
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g.append([(0,) * 14, (0,) * 14])
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if struct.unpack_from('<Q', m, 16)[0] == s1:
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return h, g
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time.sleep(0.0005)
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return None
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def main():
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ap = argparse.ArgumentParser()
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ap.add_argument('--every', type=float, default=0.1, help='seconds between drag lines while held')
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ap.add_argument('--distance', action='store_true', help="print each hand's pinch distance and finger curl")
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a = ap.parse_args()
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with open(path(), 'rb') as f:
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m = mmap.mmap(f.fileno(), 0, prot=mmap.PROT_READ)
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first = read(m)
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if first is None or first[0][0] != b'FHGEST01':
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raise SystemExit('%s is not an ft-hands gestures file' % path())
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h, g = first
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print('version %d; thresholds: pinch begins under %.3f m, ends over %.3f m; grip begins with every finger '
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'curled under %.2f, ends over %.2f' % (h[1], h[6], h[7], h[8], h[9]))
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seen = [[(q[2], q[3]) for q in kind] for kind in g] # begins, ends
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last_drag = last_dist = 0.0
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while True:
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got = read(m)
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if got:
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h, g = got
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now = time.monotonic()
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for k, kind in enumerate(g):
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for s, q in enumerate(kind):
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flags, hand, begins, ends, begin_ns, end_ns, dist, strength = q[:8]
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point, begin_point = q[8:11], q[11:14]
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if begins != seen[k][s][0]:
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print('%s %s BEGIN (#%d, hand %d) at %+.3f %+.3f %+.3f %s %.3f' %
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(SIDES[s], KINDS[k], begins, hand, *begin_point, 'curl' if k else 'd', dist), flush=True)
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if ends != seen[k][s][1]:
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held = (end_ns - begin_ns) / 1e9 if end_ns >= begin_ns else 0
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print('%s %s %s after %.2f s' % (SIDES[s], KINDS[k], 'LOST' if flags & LOST else 'END', held),
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flush=True)
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seen[k][s] = (begins, ends)
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if flags & DOWN and now - last_drag >= a.every:
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d = [point[i] - begin_point[i] for i in range(3)]
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print('%s %s drag %+6.1f %+6.1f %+6.1f mm (%.0f mm)' %
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(SIDES[s], KINDS[k], *(1000 * x for x in d), 1000 * sum(x * x for x in d) ** 0.5),
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flush=True)
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if any(q[0] & DOWN for kind in g for q in kind) and now - last_drag >= a.every:
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last_drag = now
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if a.distance and now - last_dist >= 0.2:
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last_dist = now
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print(' ' + ' '.join(
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'%s %s' % (SIDES[s].strip(), 'd %.3f curl %.2f' % (g[0][s][6], g[1][s][6]) if g[0][s][0] & TRACKED
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else '-') for s in range(2)), flush=True)
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time.sleep(0.005)
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if __name__ == '__main__':
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main()
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