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DeeJanuzandClaude Opus 5.5
a533bb973a
ft-camd tells the side cameras apart by XRService's buffer allocation order, which some XRService starts reverse; both of 2026-10-02's starts did, so the cutouts missed the hands. HANDS_SWAP_SIDES=auto (the default) has ft-hands vote from hands seen in both side cameras: the landmark rays meet in front of both cameras only under the right naming. While undecided it probes the exchanged naming with the landmark model. It decides in about 2 s of hands (right on all 7 recordings replayed), swaps the views in place, and publishes sides.json. 0 and 1 still force it, with a warning when the hands disagree. Recordings carry each part's naming and the session's decision; review, export, validate and ft-handreplay put the names right, and takes.py sides records a decision by hand. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
73 lines
2.0 KiB
C++
73 lines
2.0 KiB
C++
// Recordings of frame sets, for replaying live sessions through the tracker offline
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// (ft-handreplay). A recording is DIR/sets.bin: one record per frame set, each
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// fh_set_hdr_t, then per camera fh_set_cam_t, then each camera's pixels (w x h, packed)
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// in the same camera order.
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#pragma once
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#include <condition_variable>
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#include <cstdint>
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#include <cstdio>
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#include <deque>
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#include <mutex>
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#include <string>
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#include <thread>
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#include <vector>
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#define FH_SET_MAGIC "FHSET01"
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struct fh_set_hdr_t {
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char magic[8];
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uint32_t ncams;
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uint32_t bytes; // the whole record, this header included
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};
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struct fh_set_cam_t {
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char name[16]; // calibration name, e.g. "slam_left"
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uint32_t width, height;
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uint64_t capture_ns; // CLOCK_MONOTONIC_RAW, as the ring has it
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uint64_t dqbuf_ns; // CLOCK_MONOTONIC
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};
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struct SetFrame {
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std::string name;
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const uint8_t *px;
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uint32_t width, height;
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uint64_t capture_ns, dqbuf_ns;
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};
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// Writes sets on its own thread, so a slow disk never holds up tracking; drops sets
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// when too many are waiting.
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class Recorder {
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public:
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~Recorder();
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bool open(const std::string &dir, std::string &err);
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void add(const std::vector<SetFrame> &frames);
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// Sets taken (not dropped for a full queue): the next one's place in the file, unless a
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// write fails.
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size_t added() const { return added_; }
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size_t written() const { return written_; }
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size_t dropped() const { return dropped_; }
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private:
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void loop();
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FILE *f_ = nullptr;
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std::thread thread_;
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std::mutex mu_;
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std::condition_variable wake_;
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std::deque<std::vector<uint8_t>> queue_;
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bool stop_ = false;
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size_t written_ = 0, dropped_ = 0, added_ = 0;
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};
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// Reads a recording back one set at a time.
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class SetReader {
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public:
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bool open(const std::string &dir, std::string &err);
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// False at the end (or on a truncated last set).
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bool next(std::vector<fh_set_cam_t> &cams, std::vector<std::vector<uint8_t>> &pixels);
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~SetReader();
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private:
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FILE *f_ = nullptr;
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};
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