A guided capture (probes/tap_session.py) has its head poses in poses.jsonl
("hmd": {"m": [...]}) and the raw-to-mono clock pairs in prompts.jsonl:
--prompts maps them, so the tap capture's drags and holds can be replayed.
From a dump it now also reads each pinch's distance and ends, and reports
a ray pinch's release kick, the raw ray's per-frame jumps, the pinch point
a near grab carries (measured and pinned to the palm) with its jitter,
drift and release kick, and where the hand's own direction sits against
the shoulder's ray. --set takes the new fh_ray settings.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
The ray's One Euro filters (new hands/include/fh_smooth.h) run in continuous time and the
helper reads the ray every loop, so the pose sent to ft_pointer moves at about 100 Hz
instead of jumping at the tracker's 15-30 Hz (the dashboard's dragger made those jumps
jerky). The direction is filtered on the sphere. On the probe-moves replay the pose's
second difference per 90 Hz tick went from 0.90-0.96 deg rms to 0.24-0.26 at the same lag.
While a ray pinch is held the ray pivots on the shoulder as it was at the press, so looking
around doesn't move what's dragged; the reach for push and pull is filtered. A pinch's
first 0.3 s takes 6 deg of turn before it drags. One failed read of the gestures file no
longer ends a drag, and the log says why a drag ended or the ray went off.
Settings: POINTER_RAY_SMOOTH_MINCUTOFF, POINTER_RAY_SMOOTH_BETA, POINTER_RAY_SMOOTH_HOLD,
POINTER_RAY_STEADY, POINTER_RAY_TAP, POINTER_RAY_TAP_DEADZONE. rayeval reads publish dumps
and reports the smoothness at the display's rate.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
hands/include/fh_ray.h, shared by the pointer helper and ft-screens (design
sections 2.4-2.5): a body model (torso yaw = head yaw low-passed, at most
30 deg behind; shoulders from it), the ray from the shoulder through the
knuckles (20 ms prediction), the pointing gate (show tests for 120 ms,
hide after 250 ms of a failed keep test; near and "off" hide at once;
held through a ray pinch), and One Euro filters on yaw, pitch and origin.
- pointer/tests/handray-test.cpp: body, gate timing and tests, filter
(just test-c).
- ft-handreplay --ray FILE: per set and hand, what the helper reads.
- pointer/tools/rayeval: the ray over a replay, with the head poses from the
ft-handtest probe's log of the same session (clock matched by the
published capture times): how often it shows, why not, jitter, the ray's
shift into a pinch.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
