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from __future__ import annotations
import argparse
import time
import cv2
import numpy as np
import ui
from canvas3d import Canvas3D, View
from depth import DepthEstimator, DepthWorker
from gestures import Gesture
from main import App
RING_HOLD_SECONDS = 0.35
PALM_RESET_SECONDS = 0.6
DEPTH_MIX = 0.78
SCENE_ALPHA = 0.02
class App3D(App):
"""Draw real 3D strokes using estimated depth."""
def __init__(self, args: argparse.Namespace) -> None:
super().__init__(args)
self.canvas = Canvas3D(self.w, self.h, args.output)
self.depth = DepthWorker(args.depth_model, imgsz=args.depth_size)
print(f"[i] depth model: {args.depth_model}", flush=True)
print(f"[i] depth device: {self.depth.device} imgsz: {args.depth_size}", flush=True)
self.depth_map: np.ndarray | None = None
self.depth_norm: np.ndarray | None = None
self.depth_view = False
self._view = View()
self._depth_seq = -1
self._scene_ref: float | None = None
self._scene_gain = 1.0
self._depth_announced = False
self._frame_index = 0
self._ring_since: float | None = None
self._ring_latched = False
self._palm_since: float | None = None
self._palm_latched = False
self.yaw, self.pitch, self.roll, self.scale = 0.0, 0.0, 0.0, 1.0
self.yaw_s.set(0.0)
self.pitch_s.set(0.0)
self.scale_s.set(1.0)
def view(self) -> View:
"""Current smoothed camera."""
return self._view
def step_view(self) -> View:
"""Advance the smoothed camera."""
self._view = View(self.yaw_s(self.yaw), self.pitch_s(self.pitch),
self.roll, self.scale_s(self.scale))
self.canvas.set_view(self._view)
return self._view
def on_frame(self, frame: np.ndarray) -> None:
"""Feed the depth worker."""
self.step_view()
self._frame_index += 1
if self._frame_index % max(1, self.args.depth_every) == 0:
self.depth.submit(frame)
latest = self.depth.latest
if latest is None or self.depth.frames == self._depth_seq:
return
self._depth_seq = self.depth.frames
self.depth_map = latest
self.depth_norm = self.depth.latest_norm
self.track_scene(latest)
if not self._depth_announced:
self._depth_announced = True
self.toast("Depth ready. Move your hand closer or further to draw in depth")
def track_scene(self, depth_map: np.ndarray) -> None:
"""Cancel global depth drift."""
sample = depth_map[::8, ::8]
sample = sample[np.isfinite(sample)]
if sample.size == 0:
return
median = float(np.median(sample))
if median <= 0.0:
return
if self._scene_ref is None:
self._scene_ref = median
else:
self._scene_ref += SCENE_ALPHA * (median - self._scene_ref)
self._scene_gain = float(np.clip(self._scene_ref / median, 0.5, 2.0))
def depth_at(self, point) -> float:
"""Metric depth under a screen point."""
if self.depth_map is None:
return float("nan")
d = DepthEstimator.sample(self.depth_map, float(point[0]), float(point[1]),
default=float("nan"))
return d * self._scene_gain
def depth_readout(self) -> str:
"""Depth status line."""
if self.depth_map is None:
return "depth: warming up"
if self.canvas.depth_ref is None:
return f"depth: {self.canvas.last_depth:.2f} m draw to set the zero plane"
offset = (self.canvas.last_depth - self.canvas.depth_ref) * 100.0
turn = "yaw %+.0f pitch %+.0f" % (np.degrees(self._view.yaw), np.degrees(self._view.pitch))
return f"depth: {self.canvas.last_depth:.2f} m z {offset:+.0f} cm {turn}"
def handle_ring(self, states: list) -> None:
"""Toggle depth colors on two ring fingers."""
rings = [s for s in states if s.gesture == Gesture.RING and s.stable]
if len(rings) < 2:
self._ring_since = None
self._ring_latched = False
return
now = time.time()
self._ring_since = self._ring_since or now
if not self._ring_latched and now - self._ring_since >= RING_HOLD_SECONDS:
self._ring_latched = True
self.depth_view = not self.depth_view
self.toast("Depth colors " + ("on" if self.depth_view else "off"))
def handle_palm(self, states: list) -> None:
"""Reset the view on open palm."""
palms = [s for s in states if s.gesture == Gesture.OPEN_PALM and s.stable]
if not palms:
self._palm_since = None
self._palm_latched = False
return
now = time.time()
self._palm_since = self._palm_since or now
if not self._palm_latched and now - self._palm_since >= PALM_RESET_SECONDS:
self._palm_latched = True
self.reset_view()
self.toast("View reset")
def reset_view(self) -> None:
"""Back to the front view."""
self.yaw, self.pitch, self.roll, self.scale = 0.0, 0.0, 0.0, 1.0
self.yaw_s.set(0.0)
self.pitch_s.set(0.0)
self.scale_s.set(1.0)
self._grab = None
self._grab_span = None
self.step_view()
def rotate_view(self, grabbing: list) -> None:
"""Rotate and scale the drawing."""
p = grabbing[0].pinch_point
if self._grab is None:
self._grab = (p.copy(), self.yaw, self.pitch)
anchor, yaw0, pitch0 = self._grab
dx = (p[0] - anchor[0]) / self.w
dy = (p[1] - anchor[1]) / self.h
self.yaw = yaw0 + dx * 2.0 * np.pi * 1.1
self.pitch = float(np.clip(pitch0 + dy * np.pi * 1.1, -1.3, 1.3))
if len(grabbing) >= 2:
span = float(np.linalg.norm(grabbing[0].pinch_point - grabbing[1].pinch_point))
if self._grab_span is None:
self._grab_span = (span, self.scale)
span0, scale0 = self._grab_span
if span0 > 1e-3:
self.scale = float(np.clip(scale0 * (span / span0), 0.25, 4.0))
else:
self._grab_span = None
def handle_draw_mode(self, states: list, dt: float) -> None:
"""Draw in 3D, grab to rotate."""
self.handle_ring(states)
self.handle_palm(states)
drawing = [s for s in states if s.gesture == Gesture.DRAW]
grabbing = [s for s in states if s.gesture == Gesture.GRAB]
if grabbing:
self.stop_stroke(force=True)
self.rotate_view(grabbing)
self.grab_since = None
return
self._grab = None
self._grab_span = None
if drawing:
point = self.tip_filter(drawing[0].cursor, dt)
self.canvas.begin(self._view)
self.canvas.add_point(point, self.depth_at(point), dt, self._view)
self._draw_lost_since = None
self.grab_since = None
return
self.stop_stroke()
self.grab_since = None
def clear_canvas(self) -> None:
"""Wipe the drawing."""
self.stop_stroke(force=True)
self.canvas.clear()
self._grab = None
self._grab_span = None
self.grab_since = None
self.toast("Canvas cleared")
def background(self, frame: np.ndarray) -> np.ndarray:
"""Camera or depth colored frame."""
if not self.depth_view or self.depth_norm is None:
return frame
colored = DepthEstimator.colorize(self.depth_norm)
return cv2.addWeighted(colored, DEPTH_MIX, frame, 1.0 - DEPTH_MIX, 0.0)
def render(self, frame: np.ndarray, hands, states) -> np.ndarray:
"""Compose the output frame."""
view = self._view
out = self.canvas.render_over(self.background(frame), view)
if self.show_skeleton:
for hand, st in zip(hands, states):
ui.draw_hand(out, hand, st)
pen = self.canvas.pen_color()
active = self.active_state(states)
if active is not None:
ui.draw_cursor(out, active.cursor, active.gesture, pen, self.canvas.thickness)
shown = Gesture.NONE if active is None else active.gesture
if len([s for s in states if s.gesture == Gesture.GRAB]) >= 2:
shown = Gesture.ZOOM
ui.draw_hud(
out,
gesture=shown,
hands_info=[(s.handedness, s.gesture) for s in states],
mode_3d=False,
fps=self.fps,
device=self.device,
color=pen,
thickness=self.canvas.thickness,
strokes=len(self.canvas.strokes),
clear_progress=0.0,
toast=self.toast_text if time.time() < self.toast_until else "",
mode_label="3D DRAW",
hint="Finger draw Fist rotate Two rings depth",
)
ui.put_text(out, self.depth_readout(), (16, 84), 16, (170, 220, 255))
if self.show_debug and states:
ui.draw_debug(out, hands, states)
if self.show_help:
ui.draw_help(out, ui.HELP_LINES_3D)
return out
def handle_key(self, key: int) -> bool:
"""Handle one keypress."""
if key == ord("g"):
self.canvas.use_gradient()
self.toast("Depth gradient color")
return True
if key == ord(" "):
self.depth_view = not self.depth_view
self.toast("Depth colors " + ("on" if self.depth_view else "off"))
return True
if key == ord("r"):
self.reset_view()
self.toast("View reset")
return True
return super().handle_key(key)
def run(self) -> None:
"""Run the main loop."""
try:
super().run()
finally:
self.depth.close()
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