feat(viz): persistence grace frames

data_only_viz/config.py

@@ -35,6 +35,9 @@ HAND_CONF_MIN               0.45      float  min hand landmark confidence to ren
 HAND_PERSIST_FRAMES         3         int    frames to persist hand after disappearance
 HAND_SWAP_LR                "0"       bool   Safety knob: invert Vision chirality (validated correct live 2026-07-02; keep 0 unless a future iPhone app build flips it)
 HAND_NEAR_MIN               0.10      float  min hand size (norm) to consider "near"
+HAND_PERSIST_GRACE          2         int    grace frames before dropping a hand track on Vision miss (0 = strict)
+HAND_NEAR_OFF               0.08      float  hand size below which near gate deactivates (hysteresis off-threshold)
+HAND_HOLD_FRAMES            2         int    gesture slot hold: frames to carry last hand on Vision miss
 ARKIT_BONE_MAX              0.5       float  max bone length (norm) for ARKit skeleton
 ARKIT_FULL_SKELETON         "1"       bool   draw full 91-joint ARKit body (!=0 = True)
 VIZ_HUD                     "0"       bool   show debug HUD overlay
@@ -117,8 +120,11 @@ class VizConfig:
     # ---- Hand display / gesture ------------------------------------------
     hand_conf_min: float = 0.45
     hand_persist_frames: int = 3
+    hand_persist_grace: int = 2
     hand_swap_lr: bool = False
     hand_near_min: float = 0.10
+    hand_near_off: float = 0.08
+    hand_hold_frames: int = 2
     arkit_bone_max: float = 0.5
     arkit_full_skeleton: bool = True
 
@@ -261,8 +267,11 @@ class VizConfig:
             pinch_debounce_frames=_int("PINCH_DEBOUNCE_FRAMES", 3),
             hand_conf_min=_float("HAND_CONF_MIN", 0.45),
             hand_persist_frames=_int("HAND_PERSIST_FRAMES", 3),
+            hand_persist_grace=_int("HAND_PERSIST_GRACE", 2),
             hand_swap_lr=_bool_std("HAND_SWAP_LR", False),
             hand_near_min=_float("HAND_NEAR_MIN", 0.10),
+            hand_near_off=_float("HAND_NEAR_OFF", 0.08),
+            hand_hold_frames=_int("HAND_HOLD_FRAMES", 2),
             arkit_bone_max=_float("ARKIT_BONE_MAX", 0.5),
             # ARKIT_FULL_SKELETON uses != "0" convention (empty = True)
             arkit_full_skeleton=_bool_ne0("ARKIT_FULL_SKELETON", True),

data_only_viz/hand_display.py

@@ -258,8 +258,13 @@ class HandPersistenceGate:
 
     Tracks each hand by wrist position (landmark 0).  A hand is only
     drawable once the same wrist position has been matched for
-    *min_frames* consecutive calls.  A track that goes unmatched for even
+    *min_frames* consecutive calls.
-    one frame is immediately dropped (resets the consecutive count).
+
+    With ``grace=0`` (default) a track that goes unmatched for even one
+    frame is immediately dropped (resets the consecutive count).  With
+    ``grace>0`` an unmatched track survives up to *grace* consecutive
+    missed calls, so a single Vision drop-frame does not wipe the
+    accumulated count and cause a 4-frame visual flicker.
 
     min_frames=1 disables gating: every incoming hand is drawable on the
     first call (useful for the single-person MediaPipe fallback path).
@@ -270,10 +275,11 @@ class HandPersistenceGate:
     for a display gate; do not reuse for gesture-state tracking.
     """
 
-    def __init__(self, min_frames: int = 3, radius: float = 0.15) -> None:
+    def __init__(self, min_frames: int = 3, radius: float = 0.15, grace: int = 0) -> None:
         self._min_frames = min_frames
         self._radius = radius
-        # Each track: [wrist_x, wrist_y, consecutive_count]
+        self._grace = grace
+        # Each track: [wrist_x, wrist_y, consecutive_count, miss_count]
         self._tracks: list[list] = []
 
     def step(self, hands: list) -> list[bool]:
@@ -302,9 +308,10 @@ class HandPersistenceGate:
             # Find the nearest existing track within radius (greedy).
             best_dist = float("inf")
             best_t = -1
-            for t_idx, (tx, ty, _count) in enumerate(self._tracks):
+            for t_idx, track in enumerate(self._tracks):
                 if t_idx in used:
                     continue
+                tx, ty = track[0], track[1]
                 d = math.hypot(wx - tx, wy - ty)
                 if d < best_dist and d < self._radius:
                     best_dist = d
@@ -313,13 +320,19 @@ class HandPersistenceGate:
             if best_t >= 0:
                 used.add(best_t)
                 new_count = self._tracks[best_t][2] + 1
-                new_tracks.append([wx, wy, new_count])
+                new_tracks.append([wx, wy, new_count, 0])  # reset miss
                 result[h_idx] = new_count >= self._min_frames
             else:
-                # New track — starts at count 1.
+                # New track — starts at count 1, miss 0.
-                new_tracks.append([wx, wy, 1])
+                new_tracks.append([wx, wy, 1, 0])
                 result[h_idx] = 1 >= self._min_frames
 
-        # Unmatched tracks are dropped (not carried into new_tracks).
+        # Carry forward unmatched tracks within grace window.
+        for t_idx, track in enumerate(self._tracks):
+            if t_idx not in used:
+                miss = track[3] + 1
+                if miss <= self._grace:
+                    new_tracks.append([track[0], track[1], track[2], miss])
+
         self._tracks = new_tracks
         return result

data_only_viz/renderer.py

@@ -164,7 +164,7 @@ class MetalRenderer(NSObject):
         _cfg = _VizConfig.from_env()
         self._hand_conf_min = _cfg.hand_conf_min
         self._arkit_bone_max = _cfg.arkit_bone_max
-        self._hand_gate = HandPersistenceGate(min_frames=_cfg.hand_persist_frames)
+        self._hand_gate = HandPersistenceGate(min_frames=_cfg.hand_persist_frames, grace=_cfg.hand_persist_grace)
         # Safety knob: invert Vision chirality interpretation.
         # Chirality validated correct live 2026-07-02; keep False unless a
         # future iPhone app build flips it.

data_only_viz/tests/test_hand_display.py

@@ -502,3 +502,59 @@ def test_gate_greedy_no_double_assign():
     result = gate.step([h1, h2])
     # Both should have count=2 >= min_frames=2
     assert result == [True, True]
+
+
+# ---------------------------------------------------------------------------
+# HandPersistenceGate — grace frames
+# ---------------------------------------------------------------------------
+
+def test_gate_grace_zero_is_strict():
+    """grace=0 restores original strict behavior (1 miss drops the track)."""
+    gate = HandPersistenceGate(min_frames=3, grace=0)
+    hand = _make_hand(wrist_x=0.5, wrist_y=0.5)
+    for _ in range(3):
+        gate.step([hand])  # establish count=3
+    gate.step([])           # miss=1 > grace=0 → dropped
+    assert gate.step([hand]) == [False]  # fresh count=1
+
+
+def test_gate_grace_preserves_track_across_one_miss():
+    """With grace=2, a 1-frame hole preserves the established count."""
+    gate = HandPersistenceGate(min_frames=3, grace=2)
+    hand = _make_hand(wrist_x=0.5, wrist_y=0.5)
+    for _ in range(3):
+        gate.step([hand])  # establish count=3
+    gate.step([])            # miss=1 ≤ grace → track survives
+    result = gate.step([hand])  # matches surviving track: count=4
+    assert result == [True]
+
+
+def test_gate_grace_gap_frame_has_empty_result():
+    """During a grace frame (no hands input), result list is empty."""
+    gate = HandPersistenceGate(min_frames=3, grace=2)
+    hand = _make_hand(wrist_x=0.5, wrist_y=0.5)
+    for _ in range(3):
+        gate.step([hand])
+    assert gate.step([]) == []  # no hands → result is []
+
+
+def test_gate_grace_drops_after_grace_plus_one_misses():
+    """After grace+1 consecutive misses the track is dropped."""
+    gate = HandPersistenceGate(min_frames=3, grace=2)
+    hand = _make_hand(wrist_x=0.5, wrist_y=0.5)
+    for _ in range(3):
+        gate.step([hand])   # establish
+    for _ in range(3):      # 3 misses: miss=1,2,3 → last one > grace=2 → dropped
+        gate.step([])
+    assert gate.step([hand]) == [False]  # fresh count=1
+
+
+def test_gate_grace_ghost_stays_suppressed():
+    """A ghost appearing 1 frame then disappearing never becomes drawable
+    (count=1 < min_frames=3 even after being carried by grace)."""
+    gate = HandPersistenceGate(min_frames=3, grace=2)
+    hand = _make_hand(wrist_x=0.5, wrist_y=0.5)
+    gate.step([hand])   # count=1
+    gate.step([])        # miss=1 ≤ grace → track [0.5, 0.5, 1, 1] survives
+    # Reappears: count increments to 2 (still not established)
+    assert gate.step([hand]) == [False]