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DeeJanuzandClaude Opus 5.5
50c14545ed
ft-hands tracks with the mono IR cameras in dim light and with every camera (or the colour pair, HANDS_BRIGHT) in bright light, going by the colour frames' mean brightness with hysteresis and a 2 s hold (HANDS_CAMERAS=auto, the default; mono, color and all fix it). Colour frames are placed on the mono cameras' clock by their dequeue time, and a view in a camera a step lacks waits for that camera's next frame. A grip (a closed hand) is a second gesture next to the pinch, in version 2 of the gestures file: every fingertip curled toward the wrist, beginning only on a hand seen open within a second and held up in front. On the 2026-09-30 lit recording that leaves 6 false grips of 14, all with the hands on the desk; pinch counts are unchanged. ft-handreplay logs grips and finger curl, watch_gestures.py shows them, and tools/cut_sets.py copies a few sets out of a recording. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
81 lines
4.5 KiB
C
81 lines
4.5 KiB
C
/*
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* fh_gestures - hand gestures ft-hands publishes for input (the pointer helper): look at
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* something and pinch to click it, or close the hand (a grip) to press and drag it (the
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* Vision Pro model, with the eye tracker doing the looking).
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* /run/user/UID/frametop-hands/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 and gesture: pinch[0] and grip[0] are the left hand, [1] the right.
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* A gesture follows the hand it began on until it ends.
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* Pinch: begins when the thumb and index tips close within begin_m and ends when they
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* open past end_m (the gap between keeps it from flickering). point is between the tips.
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* Grip: a closed hand. It begins when all four fingers are curled in (each fingertip
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* nearer the wrist than grip_begin times its knuckle is) and ends when they open past
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* grip_end on average. distance is that average (about 2 open, under 1.2 closed), strength
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* 0 open .. 1 closed, and point the palm's centre. A grip ends a pinch on the same hand
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* (closing the hand can pass through a pinch on the way), as lost.
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* Either ends, as lost (FH_PINCH_LOST), when its hand stays lost too long.
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*
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* Don't miss short gestures: a reader that polls slower than a quick tap still sees it,
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* because begins and ends count every one. When begins changed, one began at begin_ns;
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* when ends changed, one ended at end_ns. begins - ends is 1 while it's down.
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*
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* Drags: point is where the gesture 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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* Version 1 had only the pinches (192 bytes); version 2 adds the grips after them.
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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 2
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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, /* the gesture is held now */
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FH_PINCH_LOST = 1u << 2, /* the last one ended because the hand was lost */
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/* (or, for a pinch, a grip took over) */
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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; /* begun so far */
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uint32_t ends; /* ended so far */
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uint64_t begin_ns; /* capture time (CLOCK_MONOTONIC) the current or */
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/* last one began */
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uint64_t end_ns; /* ... the last one ended */
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float distance; /* pinch: thumb tip to index tip, m, at this user's */
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/* hand size. grip: the fingers' mean curl (above) */
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float strength; /* 0 open .. 1 closed */
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float point[3]; /* pinch: between the thumb and index tips; grip: */
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/* the palm's centre */
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float begin_point[3]; /* point when the current or last one 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 pinch thresholds in use */
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float end_m;
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float grip_begin; /* the grip thresholds in use (curl ratios) */
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float grip_end;
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uint8_t reserved[8];
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fh_pinch_t pinch[2]; /* [0] left hand, [1] right hand */
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fh_pinch_t grip[2]; /* version 2 */
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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 + 4 * 64, "fh_gestures_t layout");
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