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