Commit for Gitea

2026-04-28 12:14:58 +02:00
parent 225ecc2e17
commit a12182baa2
116 changed files with 2630 additions and 381 deletions
@@ -0,0 +1,57 @@
+import socket
+import struct
+import time
+import numpy as np
+
+class HandUdpSender:
+    MAGIC = b'HAND'
+    VERSION = 2
+
+    def __init__(self, host="127.0.0.1", port=9000):
+        self.addr = (host, port)
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.seq = 0
+
+    def _encode_handedness(self, s: str) -> int:
+        if s == "Left":
+            return 1
+        if s == "Right":
+            return 2
+        return 0
+
+    def send_hands3d(self, hands3d: list[dict]):
+        """
+        hands3d: list of dicts:
+        {
+            "landmarks": (21,3) np.ndarray float,
+            "handedness": "Left"/"Right"/"Unknown",
+            "confidence": float (0..1)
+        }
+        Sends one UDP datagram containing all hands.
+        """
+        self.seq += 1
+        ts_ms = int(time.time() * 1000)
+
+        hand_count = min(len(hands3d), 255)
+
+        # Header: magic(4s), version(B), seq(I), ts(Q), hand_count(B)
+        packet = bytearray()
+        packet += struct.pack("<4sBIQB", self.MAGIC, self.VERSION, self.seq, ts_ms, hand_count)
+
+        for hid in range(hand_count):
+            h = hands3d[hid]
+            pts = np.asarray(h["landmarks"], dtype=np.float32)
+            if pts.shape != (21, 3):
+                continue
+
+            point_count = 21
+            handedness_code = self._encode_handedness(str(h.get("handedness", "Unknown")))
+            confidence = float(h.get("confidence", 0.0))
+
+            # per-hand header: hand_id(B), point_count(B), handedness(B), confidence(f)
+            packet += struct.pack("<BBBf", hid, point_count, handedness_code, confidence)
+
+            # points: 21*3 float32
+            packet += pts.tobytes(order="C")
+
+        self.sock.sendto(packet, self.addr)