mirror of
https://github.com/DeeJanuz/frametop.git
synced 2026-10-06 07:00:14 +02:00
DeeJanuzandClaude Opus 5.5
5ca4160a7e
- The palm-down filter is off by default: the user's deliberate pinches, hand raised, read 0.90-0.99, like typing. - Typing is told apart by the keyboard instead: the input relay sends the pointer helper "typing" on key presses, and it takes no pinch within POINTER_PINCH_TYPING (1 s) of one. - Grips are still held to hands raised (POINTER_GRIP_BELOW, 0.35 m below the eyes); pinches aren't, since the user's own sat 0.35-0.45 m below, elbow resting. - A grip doesn't begin with the thumb on the index tip: that's a pinch with the other fingers curled, which was taken for a grip. - A pinch's point is the index and middle knuckles: the tips' midpoint moved 1-2 cm as the pinch opened, dragging every release off its press. - ft-hands --gesture-log prints what the detectors measure, 10 times a second. Pinches still aren't reliable enough to use; hand tracking is parked for now in favour of the controllers. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
82 lines
4.5 KiB
C
82 lines
4.5 KiB
C
/*
|
|
* fh_gestures - hand gestures ft-hands publishes for input (the pointer helper): look at
|
|
* something and pinch to click it, or close the hand (a grip) to press and drag it (the
|
|
* Vision Pro model, with the eye tracker doing the looking).
|
|
* /run/user/UID/frametop-hands/gestures, next to the hands
|
|
* file, with the same sequence lock (read seq, copy, read seq again; use the copy only if
|
|
* both reads are the same even number) and the same frame: metres in the head frame at
|
|
* capture time, OpenVR's HMD frame (+x right, +y up, -z forward).
|
|
*
|
|
* One slot per side and gesture: pinch[0] and grip[0] are the left hand, [1] the right.
|
|
* A gesture follows the hand it began on until it ends.
|
|
* Pinch: begins when the thumb and index tips close within begin_m and ends when they
|
|
* open past end_m (the gap between keeps it from flickering). point is the index and middle
|
|
* knuckles, which don't move as the fingers open and close (the tips' midpoint did).
|
|
* Grip: a closed hand. It begins when all four fingers are curled in (each fingertip
|
|
* nearer the wrist than grip_begin times its knuckle is) and ends when they open past
|
|
* grip_end on average. distance is that average (about 2 open, under 1.2 closed), strength
|
|
* 0 open .. 1 closed, and point the palm's centre. A grip ends a pinch on the same hand
|
|
* (closing the hand can pass through a pinch on the way), as lost.
|
|
* Either ends, as lost (FH_PINCH_LOST), when its hand stays lost too long.
|
|
*
|
|
* Don't miss short gestures: a reader that polls slower than a quick tap still sees it,
|
|
* because begins and ends count every one. When begins changed, one began at begin_ns;
|
|
* when ends changed, one ended at end_ns. begins - ends is 1 while it's down.
|
|
*
|
|
* Drags: point is where the gesture is now, begin_point where it began. Turn each into the
|
|
* room with the HMD pose at its capture time (capture_ns, begin_ns) before subtracting,
|
|
* so turning your head doesn't drag.
|
|
*
|
|
* Version 1 had only the pinches (192 bytes); version 2 adds the grips after them.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <assert.h>
|
|
#include <stdint.h>
|
|
|
|
#define FH_GESTURES_MAGIC "FHGEST01"
|
|
#define FH_GESTURES_VERSION 2
|
|
|
|
enum {
|
|
FH_PINCH_TRACKED = 1u << 0, /* the hand was tracked in this frame */
|
|
FH_PINCH_DOWN = 1u << 1, /* the gesture is held now */
|
|
FH_PINCH_LOST = 1u << 2, /* the last one ended because the hand was lost */
|
|
/* (or, for a pinch, a grip took over) */
|
|
};
|
|
|
|
typedef struct {
|
|
uint32_t flags; /* FH_PINCH_* */
|
|
uint32_t hand_id; /* fh_hand_t.id of the hand, 0 if none */
|
|
uint32_t begins; /* begun so far */
|
|
uint32_t ends; /* ended so far */
|
|
uint64_t begin_ns; /* capture time (CLOCK_MONOTONIC) the current or */
|
|
/* last one began */
|
|
uint64_t end_ns; /* ... the last one ended */
|
|
float distance; /* pinch: thumb tip to index tip, m, at this user's */
|
|
/* hand size. grip: the fingers' mean curl (above) */
|
|
float strength; /* 0 open .. 1 closed */
|
|
float point[3]; /* pinch: the index and middle knuckles; grip: the */
|
|
/* palm's centre */
|
|
float begin_point[3]; /* point when the current or last one began */
|
|
} fh_pinch_t; /* 64 bytes */
|
|
|
|
typedef struct {
|
|
char magic[8];
|
|
uint32_t version;
|
|
uint32_t size;
|
|
volatile uint64_t seq;
|
|
uint64_t capture_ns; /* CLOCK_MONOTONIC when the cameras took the frames */
|
|
uint64_t publish_ns; /* CLOCK_MONOTONIC when this was written */
|
|
float begin_m; /* the pinch thresholds in use */
|
|
float end_m;
|
|
float grip_begin; /* the grip thresholds in use (curl ratios) */
|
|
float grip_end;
|
|
uint8_t reserved[8];
|
|
fh_pinch_t pinch[2]; /* [0] left hand, [1] right hand */
|
|
fh_pinch_t grip[2]; /* version 2 */
|
|
} fh_gestures_t;
|
|
|
|
static_assert(sizeof(fh_pinch_t) == 64, "fh_pinch_t layout");
|
|
static_assert(sizeof(fh_gestures_t) == 64 + 4 * 64, "fh_gestures_t layout");
|