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DeeJanuzandClaude Opus 5.5
067a03ce38
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>
59 lines
2.4 KiB
C
59 lines
2.4 KiB
C
/*
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* fh_hands - the tracked-hands file frame-hands' tracker publishes
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* ($XDG_RUNTIME_DIR/frame-hands/hands, directory mode 0700), rewritten in place
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* under a sequence lock: read seq, copy, read seq again; use the copy only if
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* both reads are the same even number.
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*
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* Positions are metres in the head frame at capture time, which is OpenVR's HMD
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* frame (+x right, +y up, -z forward). Turn them into the room with the HMD pose
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* at capture_ns (CLOCK_MONOTONIC). Writers: trackd (fh-tracker), tracker/publish.py.
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*/
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#pragma once
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#include <assert.h>
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#include <stdint.h>
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#define FH_HANDS_MAGIC "FHHANDS1"
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#define FH_HANDS_VERSION 1
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#define FH_HANDS_MAX_HANDS 2
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#define FH_HANDS_MAX_CAPSULES 64
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enum {
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FH_HAND_RIGHT = 1u << 0, /* else the left hand */
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FH_HAND_STEREO = 1u << 1, /* triangulated from two or more cameras */
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};
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typedef struct {
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uint32_t id; /* stays the same while the hand is tracked */
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uint32_t flags; /* FH_HAND_* */
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float confidence;
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float reserved;
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float pts[21][3]; /* MediaPipe hand landmarks */
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uint32_t ncapsules; /* this hand's capsules, which follow the */
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/* previous hands' in capsules[] */
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} fh_hand_t; /* 272 bytes */
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typedef struct {
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float a[3], b[3]; /* segment ends */
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float ra, rb; /* radius at each end */
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} fh_capsule_t; /* 32 bytes: the hand's shape, to cut out */
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typedef struct {
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char magic[8];
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uint32_t version;
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uint32_t size;
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volatile uint64_t seq;
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uint64_t capture_ns; /* CLOCK_MONOTONIC when the cameras took the frames */
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uint64_t publish_ns; /* CLOCK_MONOTONIC when this was written */
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uint32_t nhands;
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uint32_t ncapsules;
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uint8_t reserved[16];
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fh_hand_t hands[FH_HANDS_MAX_HANDS];
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fh_capsule_t capsules[FH_HANDS_MAX_CAPSULES];
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} fh_hands_t;
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static_assert(sizeof(fh_hand_t) == 272, "fh_hand_t layout");
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static_assert(sizeof(fh_capsule_t) == 32, "fh_capsule_t layout");
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static_assert(sizeof(fh_hands_t) == 64 + 2 * 272 + 64 * 32, "fh_hands_t layout");
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