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DeeJanuzandClaude Opus 5.5
2031b9ca8f
- 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>
86 lines
3.7 KiB
Python
86 lines
3.7 KiB
Python
"""Watch the pinch gestures fh-tracker publishes, live: 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 begins or ends on either hand. It goes by the counters, so a
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quick tap between two reads still shows. While a pinch is held, every --every seconds
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(default 0.1) it prints how far the pinch point has moved since it began, in the head
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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, to see how close a pinch comes to the thresholds.
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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('<8sIIQQQff16x') # 64 bytes
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PINCH = 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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def path():
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run = os.environ.get('XDG_RUNTIME_DIR', '/run/user/%d' % os.getuid())
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return os.path.join(run, 'frame-hands', 'gestures')
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def read(m):
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"""(header, [left, right]) under the sequence lock, or None if it's being written."""
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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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p = [PINCH.unpack_from(m, HDR.size + k * PINCH.size) for k in range(2)]
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if struct.unpack_from('<Q', m, 16)[0] == s1:
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return h, p
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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 pinching')
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ap.add_argument('--distance', action='store_true', help="print each hand's thumb-to-index distance")
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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 fh-tracker gestures file' % path())
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h, p = first
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print('thresholds: pinch begins under %.3f m, ends over %.3f m' % (h[6], h[7]))
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seen = [(q[2], q[3]) for q in p] # 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, p = got
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now = time.monotonic()
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for k, q in enumerate(p):
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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][0]:
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print('%s pinch BEGIN (#%d, hand %d) at %+.3f %+.3f %+.3f d %.3f' %
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(SIDES[k], begins, hand, *begin_point, dist), flush=True)
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if ends != seen[k][1]:
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held = (end_ns - begin_ns) / 1e9 if end_ns >= begin_ns else 0
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print('%s pinch %s after %.2f s' % (SIDES[k], 'LOST' if flags & LOST else 'END', held), flush=True)
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seen[k] = (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 drag %+6.1f %+6.1f %+6.1f mm (%.0f mm)' %
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(SIDES[k], *(1000 * x for x in d), 1000 * sum(x * x for x in d) ** 0.5), flush=True)
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if any(q[0] & DOWN for q in p) 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('%s %s' % (SIDES[k].strip(), 'd %.3f s %.2f' % (q[6], q[7]) if q[0] & TRACKED
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else '-') for k, q in enumerate(p)), 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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