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DeeJanuzandClaude Opus 5.5
1a76d1560b
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>
72 lines
2.7 KiB
C++
72 lines
2.7 KiB
C++
// Pinch detection for input: look at something and pinch to click, pinch and move to drag.
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// Per side, from the tracker's hands after each step; published as fh_gestures.h.
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#pragma once
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#include "tracker.h"
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#include <string>
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#include <vector>
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extern "C" {
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#include "../include/fh_gestures.h"
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}
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struct PinchParams {
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double begin_m = 0.020; // thumb and index tips closer than this: the pinch begins
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double end_m = 0.035; // further apart than this: it ends (the gap keeps it from flickering)
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int end_frames = 2; // processed frames in a row past end_m before it ends, so one
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// noisy frame doesn't drop a drag
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double grace_s = 0.25; // a pinching hand lost this long ends its pinch (FH_PINCH_LOST)
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// Where the distance comes from: MediaPipe's world landmarks (the model's own 3D hand
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// pose, averaged over the hand's views, at the user's hand size), or the tracker's
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// triangulated tips. The model's pose should hold up better when the fingers hide each
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// other; tomorrow's recordings will tell.
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bool triangulated = false;
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};
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class Pinch {
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public:
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explicit Pinch(const PinchParams &p = {}) : p_(p) {}
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const PinchParams ¶ms() const { return p_; }
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// After each processed set: the hands out of Tracker::step, the tracker's views (for
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// the world landmarks) and the capture time.
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void update(const std::vector<const Hand *> &hands, const std::vector<Seen> &views, int64_t t_ns);
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// Ends any pinch that's down (as lost), e.g. when the tracker stops.
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void release(int64_t t_ns);
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const fh_pinch_t &side(int s) const { return side_[s]; } // 0 left, 1 right
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// A pinch is down or closing: worth tracking at the full rate.
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bool engaged() const;
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// What changed in the last update, for logs.
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struct Event {
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int side;
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const char *what; // "begin", "end", "lost"
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int64_t t_ns;
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double distance;
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V3 point;
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};
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std::vector<Event> events;
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// Both distance measures for the last update, per side (-1: no hand), for logs.
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double world_d[2] = {-1, -1}, tri_d[2] = {-1, -1};
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private:
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void end(int s, int64_t t_ns, bool lost);
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PinchParams p_;
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fh_pinch_t side_[2]{};
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int follow_[2] = {0, 0}; // the hand id a pinch follows while down
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int open_frames_[2] = {0, 0};
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int64_t seen_ns_[2] = {0, 0};
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};
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// Writes $XDG_RUNTIME_DIR/frame-hands/gestures.
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class GesturePublisher {
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public:
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bool open(const Pinch &pinch, std::string &err);
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void write(const Pinch &pinch, uint64_t capture_ns);
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private:
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fh_gestures_t *out_ = nullptr;
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uint64_t seq_ = 0;
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uint32_t last_begins_[2] = {0, 0}, last_ends_[2] = {0, 0}; // Pinch's counters last written
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};
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