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6fe98c6b00
CI build oscope-of / build-check (push) Has been cancelled
Add gesture_quality() pure helper (hand_display.py) that maps a slot's plausibility, facing, and proximity to a score in [0,1]. Renderer uses it to modulate panel frame brightness (0.25+0.75*q) and stroke count (1..3 passes at q≥0, ≥0.5, ≥0.85 / status==3). Status still drives hue (pid 7/8/9). New gesture_slot_quality field in State written alongside gesture_slot_status each tick. Add gauge_segments() for X/Y position gauges around each panel: a horizontal rail below and a vertical rail on the outer side, each with a bold two-tick notch at the hand's normalised cx/cy (mirror-aware for X). Dim rails (conf 0.25) when slot absent. Renderer reads hand_feats L/R directly from state. 11 new tests (6 gesture_quality + 5 gauge_segments); suite 430 passed.
717 lines
33 KiB
Python
717 lines
33 KiB
Python
"""Renderer Metal natif via pyobjc.
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Architecture :
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- MTKView : NSView Metal-managee, callback drawInMTKView
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- MTLDevice : GPU par defaut
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- MTLCommandQueue : queue de submission
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- 2 pipelines :
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bg_pipeline : fullscreen tri + fbm fragment shader (1 draw call)
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skel_pipeline : lignes pour le squelette pose (max 16 segments)
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- Uniforms buffer 56 octets (14 floats) cf scene.metal::SceneUniforms
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Le renderer ne possede PAS de state thread : il lit le State partage
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sous lock a chaque frame (60 fps).
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"""
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from __future__ import annotations
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import logging
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import os
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import struct
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import time
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from pathlib import Path
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import numpy as np
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import objc
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from Cocoa import NSObject, NSColor, NSMakeRect
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from Metal import (
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MTLCreateSystemDefaultDevice,
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MTLCompileOptions,
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MTLPrimitiveTypeTriangle,
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MTLPrimitiveTypeLine,
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MTLRenderPipelineDescriptor,
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MTLResourceStorageModeShared,
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MTLVertexAttributeDescriptor,
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MTLVertexBufferLayoutDescriptor,
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MTLVertexDescriptor,
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MTLVertexFormatFloat,
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MTLVertexFormatFloat2,
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MTLVertexFormatFloat3,
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MTLVertexStepFunctionPerVertex,
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)
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# MTKViewDelegate est un @protocol Obj-C ; pas besoin d'import Python.
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# pyobjc detecte automatiquement l'implementation par signature.
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from MetalKit import MTKView # noqa: F401 (utilise par d'autres modules)
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from .arkit_skeleton import arkit_segments, finger_joint_mask
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from .hand_display import (
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HandPersistenceGate,
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arkit_2d_fresh,
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gauge_segments,
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hand_plausible,
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hand_size,
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segment_ok,
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panel_frame,
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panel_segments,
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)
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from .hand_slots import route_hands
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from .mesh_topology import (
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BODY_TRIANGLES,
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FACE_TRIANGLES,
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build_face_triangles_dynamic,
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)
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from .state import State
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# Draw the full ARKit 91-joint body (topology-driven) instead of the
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# MP33-reduced body. Set ARKIT_FULL_SKELETON=0 to fall back to MP33.
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ARKIT_FULL = os.environ.get("ARKIT_FULL_SKELETON", "1") != "0"
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LOG = logging.getLogger("renderer")
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# Triangle primitive constant (Metal MTLPrimitiveType.triangle = 3)
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MTL_PRIMITIVE_TRIANGLE = 3
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# 17 keypoints COCO bones (16 paires) — legacy YOLO fallback
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COCO_BONES: list[tuple[int, int]] = [
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(0, 1), (0, 2), (1, 3), (2, 4),
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(5, 6), (5, 7), (7, 9), (6, 8), (8, 10),
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(5, 11), (6, 12), (11, 12),
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(11, 13), (13, 15), (12, 14), (14, 16),
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]
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def _mediapipe_bones():
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"""Charge les connexions MediaPipe (body+face+hands) au runtime.
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Retourne 4 listes : (body_bones, face_bones, lhand_bones, rhand_bones)
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avec chaque bone = (idx_a, idx_b).
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Retourne None si mediapipe absent (fallback COCO)."""
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try:
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from mediapipe.tasks.python.vision import (
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FaceLandmarksConnections as F,
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HandLandmarksConnections as H,
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PoseLandmarksConnections as P,
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)
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except ImportError:
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return None
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def to_pairs(cs):
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return [(c.start, c.end) for c in cs]
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# 35 body
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body = to_pairs(P.POSE_LANDMARKS)
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# Visage HAUTE DENSITE : tesselation complete (2556) + contours +
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# iris + nez. Donne ~2700 segments rien que pour le visage.
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face = (
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to_pairs(F.FACE_LANDMARKS_TESSELATION) # 2556 segs (mesh dense)
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+ to_pairs(F.FACE_LANDMARKS_FACE_OVAL)
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+ to_pairs(F.FACE_LANDMARKS_LIPS)
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+ to_pairs(F.FACE_LANDMARKS_LEFT_EYE)
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+ to_pairs(F.FACE_LANDMARKS_RIGHT_EYE)
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+ to_pairs(F.FACE_LANDMARKS_LEFT_EYEBROW)
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+ to_pairs(F.FACE_LANDMARKS_RIGHT_EYEBROW)
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+ to_pairs(F.FACE_LANDMARKS_LEFT_IRIS)
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+ to_pairs(F.FACE_LANDMARKS_RIGHT_IRIS)
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+ to_pairs(F.FACE_LANDMARKS_NOSE)
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)
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# 21 mains (chacune)
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hand = to_pairs(H.HAND_CONNECTIONS)
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return body, face, hand, hand # left+right partagent les connexions
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# Capacite max du vertex buffer skeleton.
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# 16384 segs * 2 verts * 5 floats (xyz + conf + pid) * 4 bytes = 640 KB
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# Couvre 4 personnes : 4×35 body + 4×2700 face + 8×21 hand = ~11000 segs.
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SKEL_MAX_SEGS = 16384
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SKEL_VERT_FLOATS = 5 # x, y, z, conf, person_id
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# Mesh : ~8192 triangles × 3 verts × 5 floats × 4 = 480 KB.
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# Couvre 4 personnes : 4×~80 face + 4×~16 body + 8×~18 hand ≈ 600 triangles
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# pour le hardcode, ou ~4×~150 face Delaunay = ~600 triangles. Marge large.
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MESH_MAX_TRIS = 8192
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MESH_VERT_FLOATS = 5 # identique au skel
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MESH_MAX_VERTS = 10475 # SMPL-X is the larger family; SMPL (6890) fits inside
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# struct SceneUniforms : 17 floats packs = 68 octets, padding a 80 (multiple
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# de 16, regle Metal). On y stocke (time, rms, kp_norm, netz_dev,
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# lightning_flash, flare, wind_norm, bz_norm, social_rate, pose_alive,
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# pose_count, width, height, viz_mode, _pad0, _pad1).
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UNIFORM_FLOATS = 24 # +4 floats : hand_l_x/y, hand_r_x/y + hand_height, hand_openness, hand_speed, hand_dist
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UNIFORM_SIZE = UNIFORM_FLOATS * 4 # 96 octets, aligne 16
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class MetalRenderer(NSObject):
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"""Delegate de MTKView, drive l'integralite du rendu."""
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def initWithState_(self, state: State): # noqa: N802
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self = objc.super(MetalRenderer, self).init()
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if self is None:
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return None
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self._state = state
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self._device = MTLCreateSystemDefaultDevice()
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if self._device is None:
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raise RuntimeError("Metal non disponible sur ce systeme")
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LOG.info("device: %s", self._device.name())
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self._queue = self._device.newCommandQueue()
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self._uniforms_buf = self._device.newBufferWithLength_options_(
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UNIFORM_SIZE, MTLResourceStorageModeShared)
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# Skeleton : N segs × 2 verts × 5 floats (xyz + conf + pid)
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self._skel_buf = self._device.newBufferWithLength_options_(
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SKEL_MAX_SEGS * 2 * SKEL_VERT_FLOATS * 4, MTLResourceStorageModeShared)
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# Mesh buffer : triangles face/hand/body
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self._mesh_buf = self._device.newBufferWithLength_options_(
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MESH_MAX_TRIS * 3 * MESH_VERT_FLOATS * 4, MTLResourceStorageModeShared)
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self._mp_bones = _mediapipe_bones() # None si pas dispo
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from .config import VizConfig as _VizConfig
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_cfg = _VizConfig.from_env()
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self._hand_conf_min = _cfg.hand_conf_min
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self._arkit_bone_max = _cfg.arkit_bone_max
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self._hand_gate = HandPersistenceGate(min_frames=_cfg.hand_persist_frames, grace=_cfg.hand_persist_grace)
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# Safety knob: invert Vision chirality interpretation.
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# Chirality validated correct live 2026-07-02; keep False unless a
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# future iPhone app build flips it.
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self._hand_swap_lr = _cfg.hand_swap_lr
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self._arkit_full = _cfg.arkit_full_skeleton
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self._init_skel_cpu_buffer()
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self._init_mesh_cpu_buffer()
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self._build_pipelines()
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self._last_lightning_emit = 0.0
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return self
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# ---- Pipelines -------------------------------------------------
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def _build_pipelines(self):
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src_path = Path(__file__).parent / "shaders" / "scene.metal"
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source = src_path.read_text()
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opts = MTLCompileOptions.alloc().init()
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lib, err = self._device.newLibraryWithSource_options_error_(
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source, opts, None)
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if lib is None:
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raise RuntimeError(f"shader compile failed: {err}")
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self._lib = lib
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# --- Background pipeline (no vertex buffer) ---
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bg = MTLRenderPipelineDescriptor.alloc().init()
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bg.setVertexFunction_(lib.newFunctionWithName_("bg_vertex"))
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bg.setFragmentFunction_(lib.newFunctionWithName_("bg_fragment"))
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bg.colorAttachments().objectAtIndexedSubscript_(0).setPixelFormat_(80) # BGRA8Unorm
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p, err = self._device.newRenderPipelineStateWithDescriptor_error_(bg, None)
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if p is None:
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raise RuntimeError(f"bg pipeline failed: {err}")
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self._bg_pipe = p
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# --- Skeleton pipeline (vertex buffer pos+conf) ---
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# Skeleton vertex layout : pos (float3) + conf (float) + pid (float)
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# Stride = 5 floats × 4 bytes = 20 bytes
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vd = MTLVertexDescriptor.vertexDescriptor()
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a0 = vd.attributes().objectAtIndexedSubscript_(0)
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a0.setFormat_(MTLVertexFormatFloat3); a0.setOffset_(0); a0.setBufferIndex_(0)
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a1 = vd.attributes().objectAtIndexedSubscript_(1)
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a1.setFormat_(MTLVertexFormatFloat); a1.setOffset_(12); a1.setBufferIndex_(0)
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a2 = vd.attributes().objectAtIndexedSubscript_(2)
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a2.setFormat_(MTLVertexFormatFloat); a2.setOffset_(16); a2.setBufferIndex_(0)
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ld = vd.layouts().objectAtIndexedSubscript_(0)
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ld.setStride_(20); ld.setStepFunction_(MTLVertexStepFunctionPerVertex)
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sk = MTLRenderPipelineDescriptor.alloc().init()
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sk.setVertexFunction_(lib.newFunctionWithName_("skel_vertex"))
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sk.setFragmentFunction_(lib.newFunctionWithName_("skel_fragment"))
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sk.setVertexDescriptor_(vd)
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ca = sk.colorAttachments().objectAtIndexedSubscript_(0)
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ca.setPixelFormat_(80) # BGRA8Unorm
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ca.setBlendingEnabled_(True)
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# SrcAlpha, OneMinusSrcAlpha (= 4, 5 dans MTLBlendFactor)
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ca.setSourceRGBBlendFactor_(4)
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ca.setDestinationRGBBlendFactor_(5)
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ca.setSourceAlphaBlendFactor_(4)
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ca.setDestinationAlphaBlendFactor_(5)
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p, err = self._device.newRenderPipelineStateWithDescriptor_error_(sk, None)
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if p is None:
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raise RuntimeError(f"skel pipeline failed: {err}")
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self._skel_pipe = p
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# --- Mesh pipeline (triangles face/hand/body) ---
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# Vertex layout strictement identique au skel (reutilise vd).
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vd_mesh = MTLVertexDescriptor.vertexDescriptor()
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a0 = vd_mesh.attributes().objectAtIndexedSubscript_(0)
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a0.setFormat_(MTLVertexFormatFloat3); a0.setOffset_(0); a0.setBufferIndex_(0)
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a1 = vd_mesh.attributes().objectAtIndexedSubscript_(1)
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a1.setFormat_(MTLVertexFormatFloat); a1.setOffset_(12); a1.setBufferIndex_(0)
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a2 = vd_mesh.attributes().objectAtIndexedSubscript_(2)
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a2.setFormat_(MTLVertexFormatFloat); a2.setOffset_(16); a2.setBufferIndex_(0)
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ld2 = vd_mesh.layouts().objectAtIndexedSubscript_(0)
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ld2.setStride_(20); ld2.setStepFunction_(MTLVertexStepFunctionPerVertex)
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mp = MTLRenderPipelineDescriptor.alloc().init()
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mp.setVertexFunction_(lib.newFunctionWithName_("mesh_vertex"))
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mp.setFragmentFunction_(lib.newFunctionWithName_("mesh_fragment"))
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mp.setVertexDescriptor_(vd_mesh)
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cm = mp.colorAttachments().objectAtIndexedSubscript_(0)
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cm.setPixelFormat_(80)
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cm.setBlendingEnabled_(True)
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# SrcAlpha, OneMinusSrcAlpha — alpha classique pour voile mesh
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cm.setSourceRGBBlendFactor_(4)
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cm.setDestinationRGBBlendFactor_(5)
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cm.setSourceAlphaBlendFactor_(4)
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cm.setDestinationAlphaBlendFactor_(5)
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p, err = self._device.newRenderPipelineStateWithDescriptor_error_(mp, None)
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if p is None:
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raise RuntimeError(f"mesh pipeline failed: {err}")
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self._mesh_pipe = p
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# ---- CPU staging buffers --------------------------------------
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def _init_skel_cpu_buffer(self) -> None:
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"""Preallocate the CPU staging buffer for skeleton segments.
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SKEL_MAX_SEGS * 2 * SKEL_VERT_FLOATS floats : each segment = 2 verts × 5 floats
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(x, y, z, conf, pid). Idempotent — no-op if already allocated.
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"""
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if getattr(self, "_skel_cpu_buf", None) is None:
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self._skel_cpu_buf = np.zeros(SKEL_MAX_SEGS * 2 * SKEL_VERT_FLOATS, dtype=np.float32)
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def _init_mesh_cpu_buffer(self) -> None:
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if getattr(self, "_mesh_cpu_buf", None) is None:
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self._mesh_cpu_buf = np.zeros(
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MESH_MAX_VERTS * MESH_VERT_FLOATS, dtype=np.float32,
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)
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# ---- Uniforms helpers ------------------------------------------
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def _update_uniforms(self) -> int:
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s = self._state
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now = time.monotonic()
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with s.lock():
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# Flash de foudre : decay exponentiel ~600 ms
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dt_flash = now - s.last_lightning_t
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flash = max(0.0, 1.0 - dt_flash * 1.7) if dt_flash < 1.0 else 0.0
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# Positions des mains (point 0 = poignet) — pour mode hands3d
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lh_wrist = s.left_hand_kp[0] if s.hands_present else None
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rh_wrist = s.right_hand_kp[0] if s.hands_present else None
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hlx = (lh_wrist.x if lh_wrist else 0.5) * 2 - 1
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hly = 1 - (lh_wrist.y if lh_wrist else 0.5) * 2
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hrx = (rh_wrist.x if rh_wrist else 0.5) * 2 - 1
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hry = 1 - (rh_wrist.y if rh_wrist else 0.5) * 2
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# Expressive hand features from HandFeatureExtractor
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hf = getattr(s, "hand_feats", None) or {}
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hl, hr = hf.get("L"), hf.get("R")
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ys = [h["cy"] for h in (hl, hr) if h]
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hand_height = (1.0 - min(ys)) if ys else 0.0
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hand_open = max([h["openness"] for h in (hl, hr) if h] or [0.0])
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hand_speed = max([h["speed"] for h in (hl, hr) if h] or [0.0])
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hand_dist = float(hf.get("dist", 0.0))
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uniforms = struct.pack(
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f"{UNIFORM_FLOATS}f",
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s.elapsed(), # 1
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min(1.0, s.rms * 3.0), # 2
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min(1.0, s.swpc_kp / 9.0), # 3
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max(-0.1, min(0.1, s.netz_dev)), # 4
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flash, # 5
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s.swpc_flare_norm, # 6
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max(0.0, min(1.0, (s.swpc_wind_speed - 280.0) / 600.0)), # 7
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max(-1.0, min(1.0, s.swpc_bz / 15.0)), # 8
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min(1.0, s.social_rate / 50.0), # 9
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1.0 if s.pose_alive() else 0.0, # 10
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float(s.pose_count), # 11
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float(s.width), # 12
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float(s.height), # 13
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float(s.viz_mode), # 14
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hlx, hly, hrx, hry, # 15-18 wrist xy (kept)
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hand_height, hand_open, # 19-20
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hand_speed, hand_dist, # 21-22
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0.0, 0.0, # 23-24 pad (16-byte align)
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)
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n_segs = self._update_skeleton(s)
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n_tris = self._update_mesh(s)
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# Copie via memoryview (pyobjc API : varlist.as_buffer(N))
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mv = self._uniforms_buf.contents().as_buffer(UNIFORM_SIZE)
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mv[:] = uniforms
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# Log debug toutes les 120 frames (~2s) — confirme que mesh draw
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if not hasattr(self, "_dbg_n"):
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self._dbg_n = 0
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self._dbg_n += 1
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if self._dbg_n % 120 == 0:
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LOG.info("render: %d segs, %d tris (face=%d hand=%d body=%d)",
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n_segs, n_tris,
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len(self._state.persons_face),
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len(self._state.persons_hands),
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len(self._state.persons_body))
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return n_segs, n_tris
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def _update_skeleton(self, s: State) -> int:
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"""Remplit self._skel_buf avec les segments visibles. Retourne le
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nombre de segments (2 verts chacun).
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Priorise MediaPipe (body 33 + face 478 + 2 mains 21) si disponible
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et present ; sinon fallback COCO 17 keypoints YOLO."""
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_arkit_now = time.perf_counter()
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use_arkit = (getattr(self, '_arkit_full', ARKIT_FULL) and bool(s.arkit_parents)
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and arkit_2d_fresh(s.persons_arkit_2d_t, _arkit_now))
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if not use_arkit and not s.pose_alive():
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return 0
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buf = self._skel_cpu_buf
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segs = 0
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# Mirror overlays in X to match the (already mirrored) iPhone video
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# background. Display-only: gesture data is untouched.
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mirror = bool(getattr(s, "mirror_2d", False))
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def push(A, B, conf, pid):
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"""Empile un segment (2 verts) dans le buffer CPU prealloque."""
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nonlocal segs
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if segs >= SKEL_MAX_SEGS:
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return False
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ax = A.x * 2.0 - 1.0; ay = 1.0 - A.y * 2.0
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bx = B.x * 2.0 - 1.0; by = 1.0 - B.y * 2.0
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if mirror:
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ax = -ax; bx = -bx
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i = segs * 10
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buf[i+0] = ax; buf[i+1] = ay; buf[i+2] = float(A.z); buf[i+3] = conf; buf[i+4] = float(pid)
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buf[i+5] = bx; buf[i+6] = by; buf[i+7] = float(B.z); buf[i+8] = conf; buf[i+9] = float(pid)
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segs += 1
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return True
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def push_seg(ax, ay, bx, by, conf, pid):
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"""Like push() but takes raw normalized [0,1] coords."""
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nonlocal segs
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if segs >= SKEL_MAX_SEGS:
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return False
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cax = ax * 2.0 - 1.0; cay = 1.0 - ay * 2.0
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cbx = bx * 2.0 - 1.0; cby = 1.0 - by * 2.0
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if mirror:
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cax = -cax; cbx = -cbx
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i = segs * 10
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buf[i+0] = cax; buf[i+1] = cay; buf[i+2] = 0.0
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buf[i+3] = conf; buf[i+4] = float(pid)
|
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buf[i+5] = cbx; buf[i+6] = cby; buf[i+7] = 0.0
|
||
buf[i+8] = conf; buf[i+9] = float(pid)
|
||
segs += 1
|
||
return True
|
||
|
||
def push_panel(ax, ay, bx, by, conf, pid):
|
||
"""Like push_seg but NEVER applies mirror.
|
||
|
||
Panel coords are final screen coords [0,1] — they must not be
|
||
flipped again even when the video background is mirrored.
|
||
"""
|
||
nonlocal segs
|
||
if segs >= SKEL_MAX_SEGS:
|
||
return False
|
||
cax = ax * 2.0 - 1.0; cay = 1.0 - ay * 2.0
|
||
cbx = bx * 2.0 - 1.0; cby = 1.0 - by * 2.0
|
||
i = segs * 10
|
||
buf[i+0] = cax; buf[i+1] = cay; buf[i+2] = 0.0
|
||
buf[i+3] = conf; buf[i+4] = float(pid)
|
||
buf[i+5] = cbx; buf[i+6] = cby; buf[i+7] = 0.0
|
||
buf[i+8] = conf; buf[i+9] = float(pid)
|
||
segs += 1
|
||
return True
|
||
|
||
# Gate called once per frame on the full persons_hands list.
|
||
# Used for both the overlay loop and the side panels below.
|
||
_hand_draw_flags = self._hand_gate.step(s.persons_hands)
|
||
|
||
if use_arkit:
|
||
parents = s.arkit_parents
|
||
# Hide ARKit's per-finger joints ("false hands"): the display
|
||
# shows the filtered Vision hands instead. Mask cached until the
|
||
# topology changes.
|
||
fmask = getattr(self, "_finger_mask", None)
|
||
if fmask is None or len(fmask) != len(s.arkit_joint_names):
|
||
fmask = np.asarray(
|
||
finger_joint_mask(s.arkit_joint_names), dtype=bool)
|
||
self._finger_mask = fmask
|
||
for pid, arr2d in s.persons_arkit_2d.items():
|
||
ts = s.persons_arkit_2d_t.get(pid)
|
||
if ts is None or (_arkit_now - ts) >= 1.0:
|
||
continue # skip stale or unknown pid
|
||
valid = s.persons_arkit_2d_valid.get(pid)
|
||
if len(fmask):
|
||
if valid is None:
|
||
valid = ~fmask
|
||
elif len(valid) == len(fmask):
|
||
valid = valid & ~fmask
|
||
for (ax, ay, bx, by) in arkit_segments(
|
||
arr2d, valid, parents, max_len=self._arkit_bone_max
|
||
):
|
||
if not push_seg(ax, ay, bx, by, 1.0, pid):
|
||
break
|
||
|
||
if self._mp_bones is not None and (
|
||
s.persons_body or s.persons_face or s.persons_hands or
|
||
s.body_present or s.face_present or s.hands_present
|
||
):
|
||
body_bones, face_bones, lhand_bones, _ = self._mp_bones
|
||
# ----- MULTI-PERSONNE : pid = ID stable du tracker -----
|
||
# (track_id persiste entre frames, palette se stabilise)
|
||
ids_b = s.persons_body_ids or list(range(len(s.persons_body)))
|
||
ids_f = s.persons_face_ids or list(range(len(s.persons_face)))
|
||
ids_h = s.persons_hands_ids or list(range(len(s.persons_hands)))
|
||
for i, body_kp in enumerate([] if use_arkit else s.persons_body):
|
||
pid = ids_b[i] if i < len(ids_b) else i
|
||
for a, b in body_bones:
|
||
if a >= len(body_kp) or b >= len(body_kp): continue
|
||
A = body_kp[a]; B = body_kp[b]
|
||
if A.c < 0.15 or B.c < 0.15: continue
|
||
if not push(A, B, min(A.c, B.c), pid): break
|
||
for i, face_kp in enumerate(s.persons_face):
|
||
pid = ids_f[i] if i < len(ids_f) else i
|
||
for a, b in face_bones:
|
||
if a >= len(face_kp) or b >= len(face_kp): continue
|
||
if not push(face_kp[a], face_kp[b], 1.0, pid): break
|
||
if segs >= SKEL_MAX_SEGS: break
|
||
for i, hand_kp in enumerate(s.persons_hands):
|
||
if not _hand_draw_flags[i]:
|
||
continue
|
||
pid = ids_h[i] if i < len(ids_h) else i
|
||
if not hand_plausible(hand_kp, conf_min=self._hand_conf_min):
|
||
continue
|
||
size = hand_size(hand_kp)
|
||
for a, b in lhand_bones:
|
||
if a >= len(hand_kp) or b >= len(hand_kp): continue
|
||
A = hand_kp[a]; B = hand_kp[b]
|
||
if not segment_ok(A, B, size, conf_min=self._hand_conf_min): continue
|
||
# Decalage palette mains (+5) pour les distinguer
|
||
if not push(A, B, min(A.c, B.c), pid + 5): break
|
||
# ----- FALLBACK single-person si persons_* vides -----
|
||
if not (s.persons_body or s.persons_face or s.persons_hands):
|
||
if s.body_present and not use_arkit:
|
||
for a, b in body_bones:
|
||
if a >= len(s.body_kp) or b >= len(s.body_kp): continue
|
||
A = s.body_kp[a]; B = s.body_kp[b]
|
||
if A.c < 0.15 or B.c < 0.15: continue
|
||
if not push(A, B, min(A.c, B.c), 0): break
|
||
if s.face_present:
|
||
for a, b in face_bones:
|
||
if a >= len(s.face_kp) or b >= len(s.face_kp): continue
|
||
if not push(s.face_kp[a], s.face_kp[b], 1.0, 0): break
|
||
if s.hands_present:
|
||
for kp_list in (s.left_hand_kp, s.right_hand_kp):
|
||
if not any(p.x != 0.0 or p.y != 0.0 for p in kp_list):
|
||
continue
|
||
if not hand_plausible(kp_list, conf_min=self._hand_conf_min):
|
||
continue
|
||
size = hand_size(kp_list)
|
||
for a, b in lhand_bones:
|
||
if a >= len(kp_list) or b >= len(kp_list): continue
|
||
A = kp_list[a]; B = kp_list[b]
|
||
if not segment_ok(A, B, size, conf_min=self._hand_conf_min): continue
|
||
if not push(A, B, min(A.c, B.c), 0): break
|
||
else:
|
||
# Fallback COCO 17 (YOLO legacy)
|
||
for a, b in COCO_BONES:
|
||
A = s.pose_kp[a]; B = s.pose_kp[b]
|
||
if A.c < 0.2 or B.c < 0.2: continue
|
||
if not push(A, B, min(A.c, B.c), 0): break
|
||
|
||
# ---- SIDE PANELS: left/right hand front-view zoomed wireframe ----
|
||
# Gated on self._mp_bones (panels need _mp_bones for hand bone topology,
|
||
# even when use_arkit is True). Hands from s.persons_hands only.
|
||
if self._mp_bones is not None:
|
||
_body_b, _face_b, lhand_bones_p, _ = self._mp_bones
|
||
# Filter hands by persistence gate + plausibility before routing
|
||
# to panels (a ghost hand must not steal a slot from a real one).
|
||
keep = [
|
||
ok and hand_plausible(h, conf_min=self._hand_conf_min)
|
||
for h, ok in zip(s.persons_hands, _hand_draw_flags)
|
||
]
|
||
gated_hands = [h for h, k in zip(s.persons_hands, keep) if k]
|
||
chir_src = getattr(s, "persons_hands_chirality", None) or []
|
||
# Keep chirality aligned with the gated hands (same filter mask).
|
||
if chir_src and len(chir_src) == len(s.persons_hands):
|
||
gated_chir = [c for c, k in zip(chir_src, keep) if k]
|
||
else:
|
||
gated_chir = None
|
||
asp = float(s.width) / float(s.height) if s.width and s.height else 1.0
|
||
|
||
# Route to L/R panels. mirror= passed for cx fallback path;
|
||
# no near_min — panels show far hands as user proximity feedback.
|
||
slotted = route_hands(
|
||
gated_hands, gated_chir,
|
||
mirror=mirror,
|
||
swap=self._hand_swap_lr,
|
||
)
|
||
left_kp, right_kp = slotted
|
||
|
||
# Panel frame: status drives hue (pid 7/8/9), quality drives
|
||
# brightness (0.25+0.75*q) and thickness (1..3 stroke passes).
|
||
# pid 7 conf=0.25+0.75*q → status 0: absent (q=0)
|
||
# → status 1: detected (q≥0.30)
|
||
# pid 8 conf=0.25+0.75*q → status 2: armed (near+facing)
|
||
# pid 9 conf=1.0 (q=1.0) → status 3: pinch engaged
|
||
# Thickness: pass 1 always; pass 2 at q≥0.50; pass 3 at q≥0.85 or status==3.
|
||
_slot_status = getattr(s, "gesture_slot_status", [0, 0])
|
||
_slot_quality = getattr(s, "gesture_slot_quality", [0.0, 0.0])
|
||
_hf_all = getattr(s, "hand_feats", None) or {}
|
||
for _si, (side_name, h_kp, pid_s) in enumerate((
|
||
("left", left_kp, 5),
|
||
("right", right_kp, 6),
|
||
)):
|
||
_st = _slot_status[_si] if _si < len(_slot_status) else 0
|
||
_q = float(_slot_quality[_si]) if _si < len(_slot_quality) else 0.0
|
||
_fconf = 0.25 + 0.75 * _q
|
||
# Status drives hue (pid selection)
|
||
_fpid = 9 if _st == 3 else (8 if _st == 2 else 7)
|
||
_frame_segs = panel_frame(side_name, asp)
|
||
# Pass 1: always
|
||
for seg in _frame_segs:
|
||
push_panel(*seg, _fconf, _fpid)
|
||
# Pass 2: thicker when quality ≥ 0.50
|
||
if _q >= 0.5:
|
||
for ax, ay, bx, by in _frame_segs:
|
||
push_panel(ax + 0.001, ay, bx + 0.001, by, _fconf, _fpid)
|
||
# Pass 3: boldest when quality ≥ 0.85 or pinch engaged
|
||
if _q >= 0.85 or _st == 3:
|
||
for ax, ay, bx, by in _frame_segs:
|
||
push_panel(ax + 0.002, ay, bx + 0.002, by, _fconf, _fpid)
|
||
# Position gauges (X below / Y outer-side)
|
||
_slot_key = "L" if side_name == "left" else "R"
|
||
_slot_hf = _hf_all.get(_slot_key)
|
||
_g_cx = _slot_hf["cx"] if _slot_hf else None
|
||
_g_cy = _slot_hf["cy"] if _slot_hf else None
|
||
for ax, ay, bx, by, gconf, gpid in gauge_segments(
|
||
_g_cx, _g_cy, side_name, asp, mirror,
|
||
content_pid=pid_s,
|
||
):
|
||
push_panel(ax, ay, bx, by, gconf, gpid)
|
||
if h_kp is not None:
|
||
for seg in panel_segments(
|
||
h_kp, side_name, lhand_bones_p, asp,
|
||
mirror=mirror, conf_min=self._hand_conf_min,
|
||
):
|
||
push_panel(*seg, 1.0, pid_s)
|
||
|
||
if segs == 0:
|
||
return 0
|
||
data = self._skel_cpu_buf[: segs * 2 * SKEL_VERT_FLOATS].tobytes()
|
||
mv = self._skel_buf.contents().as_buffer(len(data))
|
||
mv[:] = data
|
||
return segs
|
||
|
||
def _update_mesh(self, s: State) -> int:
|
||
"""Remplit self._mesh_buf avec des triangles face/body.
|
||
|
||
Retourne le nombre de triangles ecrits (chacun = 3 vertices).
|
||
Filtre les triangles dont au moins un sommet a confiance < 0.3.
|
||
"""
|
||
if not s.pose_alive():
|
||
return 0
|
||
if not (s.persons_face or s.persons_hands or s.persons_body):
|
||
return 0
|
||
|
||
n_verts = 0
|
||
|
||
def push_tri(kp_list, i, j, k, pid: int) -> bool:
|
||
"""Pousse un triangle (3 verts). Retourne False si buffer plein
|
||
ou triangle invalide (confiance basse)."""
|
||
nonlocal n_verts
|
||
tris = n_verts // 3
|
||
if tris >= MESH_MAX_TRIS or n_verts + 3 > MESH_MAX_VERTS:
|
||
return False
|
||
if i >= len(kp_list) or j >= len(kp_list) or k >= len(kp_list):
|
||
return True # skip mais continue
|
||
A = kp_list[i]; B = kp_list[j]; C = kp_list[k]
|
||
if A.c < 0.15 or B.c < 0.15 or C.c < 0.15:
|
||
return True
|
||
ax = A.x * 2.0 - 1.0; ay = 1.0 - A.y * 2.0
|
||
bx = B.x * 2.0 - 1.0; by = 1.0 - B.y * 2.0
|
||
cx = C.x * 2.0 - 1.0; cy = 1.0 - C.y * 2.0
|
||
conf = min(A.c, B.c, C.c)
|
||
fpid = float(pid)
|
||
base = n_verts * 5
|
||
self._mesh_cpu_buf[base + 0] = ax
|
||
self._mesh_cpu_buf[base + 1] = ay
|
||
self._mesh_cpu_buf[base + 2] = float(A.z)
|
||
self._mesh_cpu_buf[base + 3] = conf
|
||
self._mesh_cpu_buf[base + 4] = fpid
|
||
self._mesh_cpu_buf[base + 5] = bx
|
||
self._mesh_cpu_buf[base + 6] = by
|
||
self._mesh_cpu_buf[base + 7] = float(B.z)
|
||
self._mesh_cpu_buf[base + 8] = conf
|
||
self._mesh_cpu_buf[base + 9] = fpid
|
||
self._mesh_cpu_buf[base + 10] = cx
|
||
self._mesh_cpu_buf[base + 11] = cy
|
||
self._mesh_cpu_buf[base + 12] = float(C.z)
|
||
self._mesh_cpu_buf[base + 13] = conf
|
||
self._mesh_cpu_buf[base + 14] = fpid
|
||
n_verts += 3
|
||
return True
|
||
|
||
ids_b = s.persons_body_ids or list(range(len(s.persons_body)))
|
||
ids_f = s.persons_face_ids or list(range(len(s.persons_face)))
|
||
|
||
# Body — SKIPPED whenever ARKit is the body source (iphone-usb: the
|
||
# ARKit topology arrived). persons_body is then the ARKit->MP33
|
||
# conversion with c forced to 1.0, so garbage/stale joints would pass
|
||
# the confidence filter and paint solid triangles anywhere on screen
|
||
# (the "blue blob"). The body is the gated ARKit wireframe instead.
|
||
arkit_body = (getattr(self, "_arkit_full", ARKIT_FULL)
|
||
and bool(s.arkit_parents))
|
||
for i, body_kp in enumerate([] if arkit_body else s.persons_body):
|
||
pid = ids_b[i] if i < len(ids_b) else i
|
||
for a, b, c in BODY_TRIANGLES:
|
||
if not push_tri(body_kp, a, b, c, pid):
|
||
break
|
||
if n_verts >= MESH_MAX_VERTS:
|
||
break
|
||
|
||
# Face — utilise triangulation Delaunay dynamique sur les XY,
|
||
# fallback sur FACE_TRIANGLES statique si Delaunay echoue.
|
||
for i, face_kp in enumerate(s.persons_face):
|
||
pid = ids_f[i] if i < len(ids_f) else i
|
||
pts_xy = [(kp.x, kp.y) for kp in face_kp]
|
||
tri_list = build_face_triangles_dynamic(pts_xy) or FACE_TRIANGLES
|
||
for a, b, c in tri_list:
|
||
if not push_tri(face_kp, a, b, c, pid):
|
||
break
|
||
if n_verts >= MESH_MAX_VERTS:
|
||
break
|
||
|
||
if n_verts == 0:
|
||
return 0
|
||
# Slice is exact — stale floats beyond n_verts*MESH_VERT_FLOATS never reach the GPU.
|
||
data = self._mesh_cpu_buf[: n_verts * MESH_VERT_FLOATS].tobytes()
|
||
mv = self._mesh_buf.contents().as_buffer(len(data))
|
||
mv[:] = data
|
||
return n_verts // 3
|
||
|
||
# ---- MTKViewDelegate ------------------------------------------
|
||
def mtkView_drawableSizeWillChange_(self, view, size): # noqa: N802
|
||
with self._state.lock():
|
||
self._state.width = int(size.width)
|
||
self._state.height = int(size.height)
|
||
|
||
def drawInMTKView_(self, view): # noqa: N802
|
||
n_segs, n_tris = self._update_uniforms()
|
||
rpd = view.currentRenderPassDescriptor()
|
||
drawable = view.currentDrawable()
|
||
if rpd is None or drawable is None:
|
||
return
|
||
cb = self._queue.commandBuffer()
|
||
enc = cb.renderCommandEncoderWithDescriptor_(rpd)
|
||
|
||
# 1) background fullscreen tri
|
||
enc.setRenderPipelineState_(self._bg_pipe)
|
||
enc.setFragmentBuffer_offset_atIndex_(self._uniforms_buf, 0, 0)
|
||
enc.drawPrimitives_vertexStart_vertexCount_(MTLPrimitiveTypeTriangle, 0, 3)
|
||
|
||
# 2) mesh overlay (triangles face/hand/body) — DESSOUS le skel
|
||
if n_tris > 0:
|
||
enc.setRenderPipelineState_(self._mesh_pipe)
|
||
enc.setVertexBuffer_offset_atIndex_(self._mesh_buf, 0, 0)
|
||
enc.setVertexBuffer_offset_atIndex_(self._uniforms_buf, 0, 1)
|
||
enc.drawPrimitives_vertexStart_vertexCount_(
|
||
MTL_PRIMITIVE_TRIANGLE, 0, n_tris * 3)
|
||
|
||
# 3) skeleton overlay (lignes par-dessus le mesh)
|
||
if n_segs > 0:
|
||
enc.setRenderPipelineState_(self._skel_pipe)
|
||
enc.setVertexBuffer_offset_atIndex_(self._skel_buf, 0, 0)
|
||
# SceneUniforms a buffer(1) du vertex pour acceder a U.rms etc
|
||
enc.setVertexBuffer_offset_atIndex_(self._uniforms_buf, 0, 1)
|
||
enc.drawPrimitives_vertexStart_vertexCount_(
|
||
MTLPrimitiveTypeLine, 0, n_segs * 2)
|
||
|
||
enc.endEncoding()
|
||
cb.presentDrawable_(drawable)
|
||
cb.commit()
|
||
|
||
def device(self):
|
||
return self._device
|