Commit for Gitea

source/Tbd/helper.py

@@ -0,0 +1,66 @@
+import numpy as np
+import json
+import cv2
+
+from dataclasses import dataclass, field, asdict
+from typing import List, Optional, Tuple, Dict
+
+
+# ----- Helper Functions -----
+def compute_distance(p1, p2):
+    return np.hypot(p2[0] - p1[0], p2[1] - p1[1])
+
+# 4) compute straightness per finger
+def finger_straight(i_tip, i_pip, i_mcp):
+    d1 = np.hypot(*(np.array(i_tip)-np.array(i_pip)))
+    d2 = np.hypot(*(np.array(i_pip)-np.array(i_mcp)))
+    return float(np.clip(d1/(d2+1e-3), 0, 1))
+
+
+def default_profile():
+    return []
+
+@dataclass
+class CameraObject():
+    capture: Optional[cv2.VideoCapture]
+    index: int
+    pxHeight: int = 1536
+    pxWidth: int = 2048
+
+    # Calibration
+    camera_matrix: Optional[np.ndarray] = None          # 3x3
+    distortion_coefficients: Optional[np.ndarray] = None       # 1x5 / 1x8
+    rotation_matrix_world_to_camera: Optional[np.ndarray] = None          # 3x3 (world->cam)
+    translation_vector_world_to_camera: Optional[np.ndarray] = None          # 3x1 (world->cam)
+    camera_projection_matrix: Optional[np.ndarray] = None
+
+    def load_video_capture(self):
+        #self.capture = cv2.VideoCapture(self.index, cv2.CAP_MSMF)
+        self.capture = cv2.VideoCapture(self.index, cv2.CAP_ANY)
+        #self.capture = cv2.VideoCapture(self.index, cv2.CAP_DSHOW)
+        self.capture.set(cv2.CAP_PROP_FRAME_WIDTH, 2048.0)
+        self.capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 1536.0)
+ 
+
+@dataclass
+class Hand2D():
+    camera_id: str                   # e.g. "overhead_left"
+    handedness: str                  # "Left" / "Right"
+    score: float                     # detection/tracking confidence
+    landmarks_px: np.ndarray         # shape (21,2) in pixels
+
+
+@dataclass
+class CharucoDetection:
+    camera_id: int
+    
+    # Output of Charuco detection
+    charuco_corners: np.ndarray    # (N, 1, 2) float32
+    charuco_ids: np.ndarray        # (N, 1) int32
+
+    gray_frame: Optional[np.ndarray] = None
+
+
+@dataclass
+class CalibrationSample:
+    detections: dict[int, CharucoDetection]  # camera_id → detection