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https://github.com/DeeJanuz/frametop.git
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DeeJanuzandClaude Opus 5.5
499035216c
- Programs: ft-camd (the camera broker), ft-hands (the tracker), and ft-handreplay and ft-ringplay for recordings, built by hands/build.sh into hands/build/ with one Makefile. The first build fetches ncnn at frame-hands' pinned tag and builds it with the same options. - ft-camd gets its privileges from file capabilities (CAP_SYS_PTRACE, CAP_PERFMON, CAP_DAC_READ_SEARCH) that hands/run.sh install sets with sudo, and drops them once set up. It still works under sudo. It runs on the host, linked statically, as frametop-camd.service. ft-hands runs in the dev container as frametop-hands.service. Both start and stop with SteamVR. - Files move to /run/user/UID/frametop/ (cam-ring, hands, gestures), not $XDG_RUNTIME_DIR, which a terminal in the Frametop desktop has its own of. SIGUSR1 recordings go to ~/.local/share/frametop/hands. - The calibration is read through /run/host in the container. - Settings: HANDS_SWAP_SIDES and HANDS_CPUS in frametop.conf. - install.sh offers hand tracking as an optional last step. - The container gets jsoncpp-devel, glibc-static, and NumPy and OpenCV for the Python tools. - tools/ring.py reads the ring, and models/NOTICE credits the Apache-2.0 models. Checked: ft-handreplay gives identical summaries and byte-identical depth dumps to frame-hands' fh-replay on both 2026-09-29 recordings. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
67 lines
3.5 KiB
C
67 lines
3.5 KiB
C
/*
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* fh_gestures - pinch state ft-hands publishes for input: look at something and pinch to
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* click it, pinch and move to drag (the Vision Pro model, with the eye tracker doing the
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* looking). /run/user/UID/frametop/gestures, next to the hands
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* file, with the same sequence lock (read seq, copy, read seq again; use the copy only if
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* both reads are the same even number) and the same frame: metres in the head frame at
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* capture time, OpenVR's HMD frame (+x right, +y up, -z forward).
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*
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* One slot per side: pinch[0] is the left hand, pinch[1] the right. A pinch follows the
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* hand it began on until it ends. It begins when the thumb and index tips close within
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* begin_m and ends when they open past end_m (the gap between keeps it from flickering),
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* or when the hand stays lost too long (FH_PINCH_LOST).
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*
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* Don't miss short pinches: a reader that polls slower than a quick tap still sees it,
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* because begins and ends count every pinch. When begins changed, a pinch began at
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* begin_ns; when ends changed, one ended at end_ns. begins - ends is 1 while pinching.
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*
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* Drags: point is where the pinch is now, begin_point where it began. Turn each into the
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* room with the HMD pose at its capture time (capture_ns, begin_ns) before subtracting,
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* so turning your head doesn't drag.
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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_GESTURES_MAGIC "FHGEST01"
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#define FH_GESTURES_VERSION 1
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enum {
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FH_PINCH_TRACKED = 1u << 0, /* the hand was tracked in this frame */
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FH_PINCH_DOWN = 1u << 1, /* pinching now */
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FH_PINCH_LOST = 1u << 2, /* the last pinch ended because the hand was lost */
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};
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typedef struct {
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uint32_t flags; /* FH_PINCH_* */
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uint32_t hand_id; /* fh_hand_t.id of the hand, 0 if none */
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uint32_t begins; /* pinches begun so far */
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uint32_t ends; /* pinches ended so far */
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uint64_t begin_ns; /* capture time (CLOCK_MONOTONIC) the current or */
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/* last pinch began */
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uint64_t end_ns; /* ... the last pinch ended */
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float distance; /* thumb tip to index tip, m, at this user's hand */
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/* size */
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float strength; /* 0 open (end_m or more) .. 1 closed (begin_m) */
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float point[3]; /* between the thumb and index tips */
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float begin_point[3]; /* point when the current or last pinch began */
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} fh_pinch_t; /* 64 bytes */
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typedef struct {
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char magic[8];
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uint32_t version;
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uint32_t size;
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volatile uint64_t seq;
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uint64_t capture_ns; /* CLOCK_MONOTONIC when the cameras took the frames */
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uint64_t publish_ns; /* CLOCK_MONOTONIC when this was written */
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float begin_m; /* the thresholds in use */
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float end_m;
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uint8_t reserved[16];
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fh_pinch_t pinch[2]; /* [0] left hand, [1] right hand */
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} fh_gestures_t;
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static_assert(sizeof(fh_pinch_t) == 64, "fh_pinch_t layout");
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static_assert(sizeof(fh_gestures_t) == 64 + 2 * 64, "fh_gestures_t layout");
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