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DeeJanuzandClaude Opus 5.5
3e3d31c728
trackd/ becomes track/, and the calibration helper the Python tools import moves from the prototype's folder into tools/. The model development tools (nettest and the scripts that compare it with the Python models or cut int8 calibration crops) stay in frame-hands with the prototype they need. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
67 lines
2.2 KiB
C++
67 lines
2.2 KiB
C++
// MediaPipe's palm detector and hand landmark model on ncnn (see tracker/models.py for
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// the conventions). A crop is a square region of a camera image: centre and size in
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// pixels, and a rotation that turns the crop's "up" toward the image direction
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// (sin r, -cos r). Crops are contrast-equalized (CLAHE) before the models see them.
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// Everything here may run on several threads at once.
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#pragma once
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#include "geom.h"
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#include <net.h>
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#include <cstdint>
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#include <string>
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#include <vector>
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struct Image {
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const uint8_t *data = nullptr;
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int width = 0, height = 0, stride = 0;
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};
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struct Roi {
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V2 center{};
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double size = 0, rotation = 0;
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};
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struct Palm {
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V2 center{}, size{};
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V2 kp[7]{};
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double score = 0;
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Roi roi() const; // MediaPipe's hand crop for this palm
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};
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struct Landmarks {
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V2 pts[21]{}; // image pixels
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double world[21][3]{}; // MediaPipe's metric landmarks, hand-centred
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double presence = 0, right = 0;
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Roi next_roi() const; // MediaPipe's crop to track the hand in the next frame
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};
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Roi roi_from_points(const V2 *pts21);
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// How crops are contrast-equalized before the models see them.
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struct Contrast {
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enum Mode { Clahe, None, Stretch } mode = Clahe;
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double clip = 2.0; // Clahe: OpenCV's clip limit (4x4 tiles)
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// "clahe:2", "none", "stretch" (1st..99th percentile to 0..255)
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static bool parse(const std::string &s, Contrast &out);
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// "PALM/HAND" (each as above), or one for both
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static bool parse_pair(const std::string &s, Contrast &palm, Contrast &hand);
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};
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class Nets {
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public:
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// Loads <dir>/palm.ncnn.* and <dir>/hand.ncnn.*, or the -int8 variants.
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bool load(const std::string &dir, bool int8, std::string &err);
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std::vector<Palm> palms(const Image &img, V2 center, double size, double rotation) const;
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Landmarks landmarks(const Image &img, const Roi &roi) const;
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// Before any palms()/landmarks(): how the palm search's and the landmark model's crops
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// are equalized.
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void set_contrast(const Contrast &palm, const Contrast &hand) { palm_contrast_ = palm, hand_contrast_ = hand; }
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private:
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Contrast palm_contrast_, hand_contrast_;
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ncnn::Net palm_, hand_;
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std::vector<V2> anchors_;
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};
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