mirror of
https://github.com/DeeJanuz/frametop.git
synced 2026-10-06 06:00:09 +02:00
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>
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.
|
|
// Per side, from the tracker's hands after each step; published as fh_gestures.h.
|
|
#pragma once
|
|
|
|
#include "tracker.h"
|
|
|
|
#include <string>
|
|
#include <vector>
|
|
|
|
extern "C" {
|
|
#include "../include/fh_gestures.h"
|
|
}
|
|
|
|
struct PinchParams {
|
|
double begin_m = 0.020; // thumb and index tips closer than this: the pinch begins
|
|
double end_m = 0.035; // further apart than this: it ends (the gap keeps it from flickering)
|
|
int end_frames = 2; // processed frames in a row past end_m before it ends, so one
|
|
// noisy frame doesn't drop a drag
|
|
double grace_s = 0.25; // a pinching hand lost this long ends its pinch (FH_PINCH_LOST)
|
|
// Where the distance comes from: MediaPipe's world landmarks (the model's own 3D hand
|
|
// pose, averaged over the hand's views, at the user's hand size), or the tracker's
|
|
// triangulated tips. The model's pose should hold up better when the fingers hide each
|
|
// other; tomorrow's recordings will tell.
|
|
bool triangulated = false;
|
|
};
|
|
|
|
class Pinch {
|
|
public:
|
|
explicit Pinch(const PinchParams &p = {}) : p_(p) {}
|
|
const PinchParams ¶ms() const { return p_; }
|
|
// After each processed set: the hands out of Tracker::step, the tracker's views (for
|
|
// the world landmarks) and the capture time.
|
|
void update(const std::vector<const Hand *> &hands, const std::vector<Seen> &views, int64_t t_ns);
|
|
// Ends any pinch that's down (as lost), e.g. when the tracker stops.
|
|
void release(int64_t t_ns);
|
|
const fh_pinch_t &side(int s) const { return side_[s]; } // 0 left, 1 right
|
|
// A pinch is down or closing: worth tracking at the full rate.
|
|
bool engaged() const;
|
|
|
|
// What changed in the last update, for logs.
|
|
struct Event {
|
|
int side;
|
|
const char *what; // "begin", "end", "lost"
|
|
int64_t t_ns;
|
|
double distance;
|
|
V3 point;
|
|
};
|
|
std::vector<Event> events;
|
|
// Both distance measures for the last update, per side (-1: no hand), for logs.
|
|
double world_d[2] = {-1, -1}, tri_d[2] = {-1, -1};
|
|
|
|
private:
|
|
void end(int s, int64_t t_ns, bool lost);
|
|
PinchParams p_;
|
|
fh_pinch_t side_[2]{};
|
|
int follow_[2] = {0, 0}; // the hand id a pinch follows while down
|
|
int open_frames_[2] = {0, 0};
|
|
int64_t seen_ns_[2] = {0, 0};
|
|
};
|
|
|
|
// Writes $XDG_RUNTIME_DIR/frame-hands/gestures.
|
|
class GesturePublisher {
|
|
public:
|
|
bool open(const Pinch &pinch, std::string &err);
|
|
void write(const Pinch &pinch, uint64_t capture_ns);
|
|
|
|
private:
|
|
fh_gestures_t *out_ = nullptr;
|
|
uint64_t seq_ = 0;
|
|
uint32_t last_begins_[2] = {0, 0}, last_ends_[2] = {0, 0}; // Pinch's counters last written
|
|
};
|