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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>
84 lines
3.8 KiB
C
84 lines
3.8 KiB
C
/*
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* fhring - the shared-memory frame ring fh-camd writes and trackers read.
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*
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* One file (FH_RING_PATH) holds a header, then for each camera
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* a few slots, each a slot header followed by the image rows packed tightly
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* (stride == width for 8-bit mono). Only complete, bright frames are published.
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*
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* Writer, for frame n of a camera: slot = n % nslots
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* slot.seq = 2n+1; write slot fields and pixels; slot.seq = 2n+2; cam.latest = n
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* Reader:
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* n = cam.latest; read slot.seq, expect 2n+2; copy; re-read slot.seq; if it
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* changed the copy is torn, retry with the new latest.
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*
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* All multi-byte fields are little-endian; offsets are fixed so Python can read
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* them with struct (tracker/ring.py mirrors this file).
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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_RING_MAGIC "FHRING01"
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#define FH_RING_VERSION 1
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#define FH_RING_MAX_CAMS 8
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#define FH_RING_SLOTS 4
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#define FH_RING_DIR "/run/frame-hands"
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#define FH_RING_PATH FH_RING_DIR "/ir-ring"
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enum {
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FH_FMT_GREY8 = 0,
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};
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enum {
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FH_CAM_DARK = 1u << 0, /* the near-black exposures between this node's */
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/* normal frames (fh-camd --with-dark) */
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};
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typedef struct {
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char sensor[32]; /* media entity, e.g. "og01a1b 4-0060" */
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char name[32]; /* calibration name if known, else sensor slug */
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int32_t node; /* N of /dev/videoN */
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uint32_t format; /* FH_FMT_* */
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uint32_t width;
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uint32_t height;
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uint32_t stride; /* bytes per row in the ring */
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uint32_t nslots;
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uint64_t slot_offset; /* file offset of slot 0 */
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uint64_t slot_bytes; /* slot header + image, 64-byte aligned */
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volatile uint64_t latest; /* newest published frame number, 0 = none yet */
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uint64_t published; /* frames published */
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uint64_t dropped; /* dark, stale or torn frames not published */
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uint32_t flags; /* FH_CAM_* */
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uint8_t reserved[28];
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} fh_ring_cam_t; /* 160 bytes */
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typedef struct {
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volatile uint64_t seq; /* 2n+1 while frame n is written, 2n+2 when done */
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uint64_t frame; /* n */
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uint64_t capture_ns; /* V4L2 timestamp (camera clock) */
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uint64_t dqbuf_ns; /* CLOCK_MONOTONIC when XRService dequeued it */
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uint64_t publish_ns; /* CLOCK_MONOTONIC when the copy finished */
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uint32_t v4l2_seq; /* V4L2 sequence number */
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float mean; /* mean luma on a sparse grid */
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uint8_t reserved[16];
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} fh_ring_slot_t; /* 64 bytes, image follows */
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typedef struct {
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char magic[8]; /* FH_RING_MAGIC */
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uint32_t version;
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uint32_t header_bytes; /* sizeof(fh_ring_hdr_t) */
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uint32_t ncams;
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uint32_t reserved0;
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uint64_t file_bytes;
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int64_t writer_pid;
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volatile uint64_t heartbeat_ns; /* CLOCK_MONOTONIC, refreshed at least every 0.2 s */
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uint8_t reserved[16];
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fh_ring_cam_t cams[FH_RING_MAX_CAMS];
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} fh_ring_hdr_t;
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static_assert(sizeof(fh_ring_cam_t) == 160, "fh_ring_cam_t layout");
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static_assert(sizeof(fh_ring_slot_t) == 64, "fh_ring_slot_t layout");
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static_assert(sizeof(fh_ring_hdr_t) == 64 + 160 * FH_RING_MAX_CAMS, "fh_ring_hdr_t layout");
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