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