@rig-c/pose 0.16.0 → 0.17.0

package/README.md

@@ -25,10 +25,10 @@ The map names **chains**: each limb as bones that descend from one another, pare
 ## Clean first: `rig-pose clean`
 
 ```sh
-rig-pose clean --pose dance.scan.json --out dance.pose.json [--loop] [--legs 5] [--rest 7] [--hips-inferred]
+rig-pose clean --pose dance.scan.json --out dance.pose.json [--loop] [--legs 5] [--rest 7] [--hips-inferred] [--hold off] [--hold-speed 0.015] [--hold-reach 0.03]
 ```
 
-`retarget` reads only a sequence that `clean` wrote ([#67](https://github.com/rig-c/pose/issues/67)). A pose model reads each frame alone, so a hanging wrist moves ±20 px a frame and a cloak-hidden leg jumps 100+ px, and every key carries that shake. `clean` takes it out once, at the sequence, where it can be inspected. A sequence without the record is refused by name (`POSE_NOT_CLEANED`), and the message is the `clean` command to run on that file. There is no flag to skip the step. Windows of 1 (`--legs 1 --rest 1`) are a legitimate run that smooths nothing, and they are recorded as such.
+`retarget` reads only a sequence that `clean` wrote ([#67](https://github.com/rig-c/pose/issues/67)). Where the video's camera moves, the order is **scan → clean → retarget** ([#80](https://github.com/rig-c/pose/issues/80)): a zoom step is a jump of the picture, and `clean`'s spike and smoothing steps would read it as motion of the body, so `tools/scan.py` takes the camera out of the raw sequence first and `clean` reads what it writes. A pose model reads each frame alone, so a hanging wrist moves ±20 px a frame and a cloak-hidden leg jumps 100+ px, and every key carries that shake. `clean` takes it out once, at the sequence, where it can be inspected. A sequence without the record is refused by name (`POSE_NOT_CLEANED`), and the message is the `clean` command to run on that file. There is no flag to skip the step. Windows of 1 (`--legs 1 --rest 1`) are a legitimate run that smooths nothing, and they are recorded as such.
 
 The steps, in this order, each printed with its figures:
 
@@ -36,6 +36,7 @@ The steps, in this order, each printed with its figures:
 2. **Occlusion.** A joint whose state is not `observed` (or `inferred`), or whose score is under 0.3, takes its 3-frame median (`OCCLUDED`).
 3. **Smoothing.** A quadratic Savitzky–Golay per joint: the legs (both hips, knees and ankles) over `--legs` frames (default 5), every other joint over `--rest` (default 7). A window is 1 (none) or odd and at least 5. 3 is refused because a quadratic through 3 points passes through all three. Without `--loop`, the window is cut at the ends. Where fewer than three frames have a position, the degree drops to fit the ones that do.
 4. **Floor.** Only with `--loop`: the whole figure moves in y by one constant, so that the lowest ankle over the cycle is where it was before smoothing.
+5. **Hold** ([#91](https://github.com/rig-c/pose/issues/91)). A joint that has stopped is written at one position (`HOLD`), because detector noise on a still joint is not motion, and no smoothing window removes it without also smearing the movement into the stop. Below.
 
 A **median** is taken per coordinate (x and y apart), over the window's frames on which the joint has a position, its own frame included, whatever its state. An even count takes the mean of the middle two. **`--loop`** says the sequence is one cycle, such as a gait from strike to strike. Every window then wraps, the last frame running into the first, so nothing is untested; a cycle shorter than its widest window is refused (`CLEAN_LOOP`). **Nothing is invented.** A joint with no position on a frame gets none: `retarget` holds it and prints a `HOLD` line. States and scores are written as they were read. `--coco` reads COCO-17 (below) and converts it first. `--person` picks the person when there is more than one, and only that person is written.
 
@@ -50,7 +51,43 @@ The output carries the record, here the dancer's from the table below:
 
 `jitter` is the mean |second difference| of y, in px/f², over every joint and every three consecutive frames that have a position, wrapping with `--loop`. It is measured on the sequence as read and on the cleaned positions. `retarget` prints the record as its `CLEAN` line and copies it into `--report`.
 
-**`--hips-inferred`** ([#63](https://github.com/rig-c/pose/issues/63)) declares that the hips are not seen: under a skirt or a cloak the pose model still places them, but where it puts them is its guess. After the four steps, `r_hip` and `l_hip` are marked `inferred` on every frame where they have a position (`INFERRED`), and the record's params carry `"hipsInferred": { "by": "declared" }` — the person running `clean` said so. Positions and scores are unchanged, so `retarget`'s keys are the same with the flag and without it. What changes is the `POSTURE` line, which does not read a hip tilt off inferred hips (below), and the `CLEAN` line, which ends `hips inferred (declared at clean)`.
+**`--hips-inferred`** ([#63](https://github.com/rig-c/pose/issues/63)) declares that the hips are not seen: under a skirt or a cloak the pose model still places them, but where it puts them is its guess. After the steps, `r_hip` and `l_hip` are marked `inferred` on every frame where they have a position (`INFERRED`), and the record's params carry `"hipsInferred": { "by": "declared" }` — the person running `clean` said so. Positions and scores are unchanged, so `retarget`'s keys are the same with the flag and without it. What changes is the `POSTURE` line, which does not read a hip tilt off inferred hips (below), and the `CLEAN` line, which ends `hips inferred (declared at clean)`.
+
+**The stillness hold** ([#91](https://github.com/rig-c/pose/issues/91)) runs on the cleaned positions, after the smoothing and the floor, **joint by joint**: stillness is a property of a joint, so a hand that has stopped is held while the elbow beside it still settles. A joint's speed on a frame is its movement from the frame before, in trunk lengths, taken as a 5-frame median. A **hold** of a joint is a span of at least 0.5 s (the first frame's time to the end of the last) on every frame of which its median speed is under `--hold-speed` (default 0.015 trunk lengths a frame), and over which it stays within `--hold-reach` (default 0.03 trunk lengths) of its own span median. Speed alone cannot tell a slow drift from stillness, because a drift accumulates. For each joint the span is chosen greedily, left to right: from a still frame it grows one frame at a time while the reach holds on the grown span, its median read again each time, and stops at the first frame that breaks it. If what it reached lasts 0.5 s it is a hold and the search resumes after it; if not, the search moves one frame on. A span does not cross a loop's seam.
+
+On every frame of a hold the joint takes its per-coordinate median over the span. It blends in linearly over the 6 frames before it (the 6th stays as cleaned, the frame before the span is ⅚ of the way) and out over the 6 frames after it, mirrored. A blend frame inside another hold of the same joint is not touched; where two blends of one joint meet, the larger weight wins. Where one hold of a joint ends on frame k and the next starts on k + 1 + g, with a gap g of under 6 frames (a **seam**: the reach broke while the joint was still moving slowly, or a few frames between two holds failed a test), the two medians differ, and the joint would jump between them. A seam cross-fades over 6 + g frames, symmetric about the gap's centre: frames k − 2 … k + 3 + g take 1/(2(6 + g)), 3/(2(6 + g)), … of the way from the first median to the second (for g = 0: 1/12, 3/12, … 11/12, the blend's sixths placed symmetric about the seam), so no frame moves more than 1/(6 + g) of the step. The cross-fade replaces the blends on the gap's frames. Each seam is printed (`SEAM`) and recorded with the joint, the second hold's first frame, the step in trunk lengths and the gap. A hold that carries a cross-fade has a non-zero jitter after: the ramp's own curvature, printed as `(ramp)`, not noise. A joint that fails keeps its cleaned track. A joint with no position on a frame gets none, and states and scores are kept.
+
+Each hold is printed (`HOLD`, joint by joint, with its largest speed and reach) and recorded with the joint's jitter inside it, before and after. Where some joints are held, every run of the same frames (the held spans joined where they overlap or touch) on which a joint has no hold is named with the test it fails there and its figure (`UNHELD`, and the record's `unheld`): `speed` (its largest median speed), else `reach` (its largest distance from its median over the run), else `short` (it is still, but for under 0.5 s; the figure is its seconds), else `span` (it passes all three, and its spans broke elsewhere).
+
+```json
+"params": { "loop": false, "legs": 5, "rest": 7, "hold": { "speed": 0.015, "reach": 0.03, "minSeconds": 0.5, "blend": 6 } },
+"holds": [{ "joint": "nose", "frames": [first, last], "jitter": { "before": before, "after": 0 } }, …],
+"seams": [{ "joint": "neck", "frame": second hold's first frame, "step": trunk lengths, "gap": frames }, …],
+"unheld": [{ "joint": "l_elbow", "frames": [first, last], "test": "reach", "value": figure }, …]
+```
+
+The `CLEAN` line names, for each region, the joints held over which frames and the frames not held with their test and figure and the seams cross-faded (`HOLD frames a–b: held nose, neck, … a–b; seams cross-faded: neck f (step …); not held: l_elbow c–d (reach … > 0.03)`), or says `no HOLD`. `--hold off` turns the step off: the positions are those of a clean without it, and the record carries `"hold": "off"` and none of `holds`, `seams` and `unheld`. A record written before #91 names none of them, and is read as it was.
+
+**Measured hips: `tools/pelvis.py`** ([#86](https://github.com/rig-c/pose/issues/86), not shipped) reads the pelvis line where the eye reads it under a skirt, off the skirt's waistband, and runs after `clean`: scan → clean → pelvis → retarget. It takes the video and a sequence `clean` wrote without `--hips-inferred`. It refuses by name, writing nothing:
+
+- a sequence with no `cleaned` record (`PELVIS_NOT_CLEANED`);
+- one whose hips are already marked (`PELVIS_HIPS_INFERRED`);
+- a frame count other than the video's (`PELVIS_FRAMES`);
+- a clip on which no frame gives a reading (`PELVIS_NO_READING`).
+
+On each frame it reads the top edge of the dark region at the waist. The region is set by the hips and the frame's trunk length. The tool keeps the edge's flattest high run, since a flaring skirt's sides are steep and are not the pelvis line, and fits a line to it.
+
+A frame gives no reading, declined with the reason, when:
+
+- a wrist lies in front of the waist (the picture under it is not the skirt's dark);
+- the edge is too broken or too far from a line;
+- the reading is over 25° from level, or a lone outlier: further, per frame, than the misread guard allows from both the read before it and the reading after it.
+
+The tool never draws a line through a hand in front. A declined frame does not fall back to the detector's hip line, which is the value known to be wrong there. If two reads lie close in time on either side, the frame takes the interpolation between them. Otherwise it holds the earlier read to the end of its run, so the written angle changes only at a read; at the clip's start, with no earlier read, it holds the later one.
+
+Both hips are marked `inferred` on every frame and turned about their midpoint to the frame's angle, keeping the midpoint and the width. The record says which frame is which: `"hipsInferred": { "by": "measured", "method", "read", "interpolated", "held": [[first, last], …], "declined": [{ "frames": [first, last], "why" }] }`. Every frame is in exactly one of `read`, `interpolated` and `held`, and `declined` lists exactly the interpolated and held frames. Runs are frame indices inside the sequence, increasing and disjoint. A malformed record is refused by name (`POSE_CLEANED`).
+
+`tools/pelvis_selftest.py` is its synthetic check. A planted wrist on a hand in front of the waist reads "covered", and with the hand moved away the edge's angle is read again. The misread guard, the interpolation and the hold are checked frame by frame. Its mutant (`--no-cover-check`) must read a line through the hand, and the check asserts that it does.
 
 **Measured** on HQ's references ([#67](https://github.com/rig-c/pose/issues/67)'s bars):
 
@@ -91,7 +128,7 @@ and what the run cannot decide for you it lists:
 - `FLIP` — a segment that turns more than `--flip` degrees in one frame (with `--flip <deg>`; off by default) is spread over the frames around the jump; one line per spread, with the chain, the segment, the jump, the frames and h. Below.
 - `BEND` — with `--bends clamp`, a hinge bent the wrong way is straightened on that frame instead of refusing.
 - `FOLD` — `rigc render --folds` over the new animation: every mesh that folds, and when. A reading, not a gate.
-- `POSTURE` — when the map has a pelvis chain (joints `r_hip`, `l_hip`) and a `translate`: the hip line's tilt range, and the sway — the x-range of mid_hip − mid_shoulder — in rig units and in shoulder widths, the pose's beside the posed rig's. A reading, not a gate. A frame on which either hip is `inferred` is left out of the tilt. When that is every frame, as after `clean --hips-inferred`, the line is `hip tilt not read: hips inferred (declared at clean)` and the report's `posture` has `"tilt": null` with `"tiltWhy"`; on some frames only, the tilt is read over the others and the line counts the frames left out (`posture.hipsInferred`). The source is read from the clean record, or is `source not stated` when the joints carry the state and the record does not. The sway reads the hips as before.
+- `POSTURE` — when the map has a pelvis chain (joints `r_hip`, `l_hip`) and a `translate`: the hip line's tilt range, and the sway — the x-range of mid_hip − mid_shoulder — in rig units and in shoulder widths, the pose's beside the posed rig's. A reading, not a gate. A frame on which either hip is `inferred` is left out of the tilt. When that is every frame, as after `clean --hips-inferred`, the line is `hip tilt not read: hips inferred (declared at clean)` and the report's `posture` has `"tilt": null` with `"tiltWhy"`; on some frames only, the tilt is read over the others and the line counts the frames left out (`posture.hipsInferred`). The source is read from the clean record, or is `source not stated` when the joints carry the state and the record does not. With a `measured` record ([#86](https://github.com/rig-c/pose/issues/86)), the read, interpolated and held frames are the measurement, so the tilt is read on all three. The line adds `tilt measured (<method>) on N frame(s): R read, I interpolated, H held (held: <spans>)`. The report's `posture` carries `tiltMeasured: { method, frames, read, interpolated, held, heldSpans }`. The sway reads the hips as before.
 - `SWITCH` — with `alternates` in the map ([below](#alternate-drawings-alternates)): each span on which a set of alternate drawings shows, its slots, its frames, how far the pose was from the set's key skeleton, how far each bone with a `drawn` angle was turned from it, and where each of its boundaries was moved to (`moved`, [below](#alternate-drawings-alternates)).
 - `UNCOVERED` — with `alternates` in the map: every fold on a frame where no switch took the folding mesh off screen. This is the list of poses still to paint.
 - `RANGE` — a chain's `range` ([below](#a-joints-range-range)): a bone whose rotate key the pose asks past its range, outside every span of a set depicting its chain, is clamped at the limit; one line per run, with the frames, the seconds and the largest overflow. The demand for an alternate.
@@ -107,7 +144,7 @@ and what the run cannot decide for you it lists:
 - `REDUCE` — with `--reduce` ([below](#few-keys---reduce)): per bone, its keys before and after and its largest error, with the frame; then the total.
 - `TURN` — a line across the body (hips, shoulders, eyes) shorter in the picture than 0.5 of its median length, or reversed, for at least 0.15 s: the body or the head turned. A reading of the pose, made whether or not the map uses the line; it changes no key. The demand for a turned-body drawing, as `END-ON` is for a foreshortened limb.
 
-`--report <file>` writes all of it as JSON (`rig-pose-report/1`): `options` (every figure the run used, `switchTolerance`, `switchMin`, `switchAt`, `legScale`, `plantFeet`, `stance` and `raisedByHead` included), `scale`, `holds`, `short`, `endOn`, `bends`, `flips`, `gate`, `landings`, `posture`, `folds`, `legScale`, `pivot`, `feet` (`planted`, `legLength`, `floor`, `supports`, `jumps`, `changes`, and the posed `reading`), `stance` (`tolerance`, `bounds`, `runs`: `{ state, side, frames, maxHeight, k }`, `over`: `{ side, frames, needed, left }`; `null` without `--stance`), `shear`, `idleDropped`, `idleKeptOut` and `merged` ([below](#the-idle-what-the-retarget-drops)), `reduce` (the tolerances and each row of `REDUCE`, [below](#few-keys---reduce)), and the demand lists. The fields a run is graded by:
+`--report <file>` writes all of it as JSON (`rig-pose-report/1`): `spec`, `rigc` (`{ version, entry }`: the rig-c that gated it), `rig`, `animation`, `frames`, `duration`, `cleaned` (the sequence's `cleaned` record, [above](#clean-first-rig-pose-clean)), `options` (every figure the run used, `switchTolerance`, `switchMin`, `switchAt`, `legScale`, `plantFeet`, `stance`, `floor` and `raisedByHead` included), `scale`, `holds`, `short`, `endOn`, `bends`, `flips`, `gate` (rig-c's gate summary, a string), `landings`, `posture`, `folds`, `legScale`, `pivot`, `feet` (`planted`, `legLength`, `supports`, `jumps`, `steps`, `changes`, `floor`, `shifts`, `blend`, and the posed `reading`; a jump is an inclusive `[first, last]` pair of frames; `floor` is the world y every support span was planted on and `shifts` holds one `{ side, frames, shift }` per support span in world units, `null` and empty without `--plant-feet`; `blend` is `{ bounds, runs: [{ side, frames, k: { min, max } }], over: [{ side, frames, needed, left }] }`, the supporting leg stretched on the blend frames, `null` without `--plant-feet`), `stance` (`tolerance`, `release`, `minSeconds`, `bounds`, `runs`: `{ state, side, frames, maxHeight, k, absorbed? }`, `over`: `{ side, frames, needed, left }`; `null` without `--stance`), `shear`, `idleDropped`, `idleKeptOut` and `merged` ([below](#the-idle-what-the-retarget-drops)), `reduce` (the tolerances and each row of `REDUCE`, [below](#few-keys---reduce)), and the demand lists. The fields a run is graded by:
 
 | field | each entry |
 | --- | --- |
@@ -166,8 +203,9 @@ rig-c's `scalex` multiplies the bone's x axis, and a child with the `normal` inh
 - The new support is held where it is on the frame it takes over, and the hip blends from the old derivation to the new over **3 frames**.
 - A **jump** — both reference ankles **and** mid_hip more than **0.05** leg lengths above their **rolling floor**, the 95th-percentile picture y over ±1.0 s around the frame, for at least **2 frames** — releases the plant: the hip follows the pose's travel from where it was, and re-plants on landing (blended the same way). The body has to lift: an ankle's picture y drifts with depth, and under one floor for the whole sequence HQ's dancer standing still (frames 0–29 and 277–312, mid_hip moving 10 and 14 px) read as jumping, 152–155 of 313 frames in all.
 - A **step** releases the plant too: while the supporting ankle moves more than **0.03** leg lengths a frame, the other foot takes support if it is planted (not itself released or moving), and otherwise the hip follows the pose's travel. The released ankle may support again once it has moved less than **0.01** leg lengths a frame for **2 frames**. On the dancer the plant held the supporting ankle through a real step (frames 176–181, 579 → 718 px) and threw the hip sideways.
-- `FEET` lists the supports, the jumps and the steps (each with the side, its frames, who took support and where it re-planted); the report carries them under `feet` (`supports`, `jumps`, `steps`, `changes`).
-- **`--stance <leg lengths>`** (only with `--plant-feet`, which it is refused without; off by default) plants **both** feet when the free one is near the floor ([#60](https://github.com/rig-c/pose/issues/60)). On a frame with a supporting side (so outside every jump), the free ankle's height above the supporting one is read in the picture, in the free side's leg length — the leg length `FEET` uses. Within the tolerance the frame is **planted both**: every bone of the free leg's chain has its `scalex` key multiplied by k = (root y − floor y) / (root y − ankle y) on the posed rig, the root being the chain's first bone's origin and the floor the supporting ankle, so the foot reaches the floor. A free ankle below the supporting one is planted too: its k is under 1, since a foot under the floor is the same fault as one floating above it. k is held within **[0.92, 1.08]**, and a frame past those bounds is listed `past the bounds`, held at the bound and not forced. Above the tolerance the foot is **lifted** and keeps the pose's height. The stretched scales are the scale targets, so the landing check holds them. Measured with `--stance 0.07` and HQ's flags (`--smooth 7 --flip 90 --short 0.35 --bends clamp --leg-scale 0.8,1.05 --plant-feet --carry-idle`): on HQ's dancer, frames 94–175 outside the jumps, the free ankle's height above the supporting one on the posed build went from median 18.3 and p90 25.4 units to 0.0 and 0.0. On a second sequence (Toca, 492 frames at 30 fps) the 29 frames labelled by eye as both feet flat, outside the jumps, read 0.0 and 0.0. Of the 6 labelled one foot lifted, 5 stay above the tolerance; the sixth (frame 360) was 0.042 leg lengths up in the picture, within the tolerance, and so planted; without `--stance` it stood 6.5 units up, also under the tolerance (22.6 units there). That is 83 %, under the 90 % the card asked.
+- **One floor** ([#85](https://github.com/rig-c/pose/issues/85)). A 2D rig has no depth, so its floor is one line, and a planted foot is on it. The picture disagrees: a step toward the camera puts the foot lower in the frame, and a camera residual puts a whole span higher, so a plant held where the picture puts each span leaves the floor stepping between spans. Every support span's supporting ankle is therefore moved in y onto one floor, the hip and everything above with it. A span's *planted height* is the world y (on the rig, posed by rig-c) its supporting ankle would be held at; the floor is the median of the spans' planted heights, or **`--floor <y>`** (world units, y up; only with `--plant-feet`, exit 2 without it). Each span's *shift* is floor − its planted height. A change of support still blends the hip over the 3 frames, now between two spans on the floor, and a planted foot does not leave the floor: on each blend frame the **supporting** leg is stretched along its chain about its root, by the factor `--stance` uses, k = (root y − floor y) / (root y − ankle y), held within **[0.92, 1.08]**. A frame that needs more is held at the bound, the rest left to the blend, and listed `FEET past the bounds` with the k needed and how far the foot was left from the floor. An ankle already within 0.01 units (the landing check's origin tolerance) is not stretched. The stretched scales are scale targets, so the landing check holds them; `--stance` then stretches the free leg, a different chain, to the supporting ankle. A jump follows the pose's travel from the hip it left, which is on the floor, and lands on the floor, held the same way over its first 3 planted frames. `--stance` is unchanged: it stretches the free leg to the supporting ankle, which is on the floor. On the tests' synthetic stick, three spans 0, 6 and 1 px apart in the picture (0, 9 and 1.5 units on the rig) plant within 0.0001 units of one floor. With the shift forced to 0 they stay 9 units apart; without the stretch, the supporting ankle leaves the floor by 6.75 units on the first blend frame.
+- `FEET` lists the supports, the jumps and the steps (each with the side, its frames, who took support and where it re-planted), and with `--plant-feet` the floor: its world y and where it came from, each span's shift in units and in that side's rig leg at setup (thigh origin → ankle), and the shifts' range, then one line per run of blend frames whose supporting leg was stretched (`blend held on the floor`) and per run `past the bounds`. The report carries them under `feet` (`supports`, `jumps`, `steps`, `changes`, `floor`, `shifts`, `blend`).
+- **`--stance <leg lengths>`** (only with `--plant-feet`, which it is refused without; off by default) plants **both** feet when the free one is near the floor ([#60](https://github.com/rig-c/pose/issues/60)). On a frame with a supporting side (so outside every jump), the free ankle's height above the supporting one is read in the picture, in the free side's leg length — the leg length `FEET` uses. Within the tolerance the frame is **planted both**: every bone of the free leg's chain has its `scalex` key multiplied by k = (root y − floor y) / (root y − ankle y) on the posed rig, the root being the chain's first bone's origin and the floor the supporting ankle, so the foot reaches the floor. A free ankle below the supporting one is planted too: its k is under 1, since a foot under the floor is the same fault as one floating above it. k is held within **[0.92, 1.08]**, and a frame past those bounds is listed `past the bounds`, held at the bound and not forced. Above the tolerance the foot is **lifted** and keeps the pose's height. The state is read with **hysteresis** and a **shortest run** ([#87](https://github.com/rig-c/pose/issues/87)): a planted foot is lifted when its height goes past the tolerance, and a lifted one is planted again only under **0.8** of it (both figures are on the `STANCE` line). A change of state takes effect only when its condition holds for **0.1 s** (by the frames' times). A shorter crossing with the other state on both sides of it keeps their state and is listed `absorbed` with its frames and the height that crossed (`absorbed: true` in the report's `stance.runs`, beside the run that took it in). One that runs to the end of a support span is taken, since nothing of the other state follows it. A threshold read frame by frame turned noise at the threshold into a pop: one frame at 0.0708 against 0.07 dropped the stretch for one frame and the foot jumped up and back. The stretched scales are the scale targets, so the landing check holds them. Measured with `--stance 0.07` and HQ's flags (`--smooth 7 --flip 90 --short 0.35 --bends clamp --leg-scale 0.8,1.05 --plant-feet --carry-idle`): on HQ's dancer, frames 94–175 outside the jumps, the free ankle's height above the supporting one on the posed build went from median 18.3 and p90 25.4 units to 0.0 and 0.0. On a second sequence (Toca, 492 frames at 30 fps) the 29 frames labelled by eye as both feet flat, outside the jumps, read 0.0 and 0.0. Of the 6 labelled one foot lifted, 5 stay above the tolerance; the sixth (frame 360) was 0.042 leg lengths up in the picture, within the tolerance, and so planted; without `--stance` it stood 6.5 units up, also under the tolerance (22.6 units there). That is 83 %, under the 90 % the card asked.
 - The map needs one chain ending at each ankle whose last bone is aimed `"x"` (the ankle is that bone's tip), and a `translate` the legs hang from (`LEGS_MAP`). A `range`, or a set's `turn` or `offsets`, on a bone between the hip and an ankle is refused (`LEGS_RANGE`): the plant is derived before the range clamp, and a clamp after it would move the planted foot.
 
 Both are checked on the gated build: every scale lands, each ankle lands where the keys put it, and the hip's origin where the plant put it. The figures were fixed in #47 before the dancer was measured; the defaults stay off until they pass.
@@ -235,7 +273,13 @@ Exit codes: `0` written, `1` refused (every reason printed, nothing written), `2
 **From COCO-17** — the layout most pose models and datasets use — `rig-pose clean --coco in.json --out pose.json`, which converts and cleans in one step. `rig-pose convert --coco` converts only, and its output still needs `clean`. `retarget --coco` is refused (`POSE_NOT_CLEANED`), naming the `clean --coco` command. The input is `{ "format": "coco17-sequence/1", "width", "height", "source", "frames": [{ "t", "keypoints" }] }`, keypoints in COCO's order as 17 `[x, y, score]` or 51 numbers, or `null` for a frame with nobody. The mapping: COCO's `left_*`/`right_*` → body-18's `l_*`/`r_*` (both are the subject's sides), a score of 0 → `missing`, and body-18's `neck`, which COCO lacks, is the shoulders' midpoint scored the lower of the two (OpenPose's definition).
 
 
-**The camera** ([#63](https://github.com/rig-c/pose/issues/63)). A sequence may carry an optional `camera`, one `{ "s", "tx", "ty", "inliers" }` per frame: the picture's scale and translation against frame 0's, so a point p₀ of frame 0's picture appears at `s · p₀ + (tx, ty)` on that frame. Its joints are then already normalised by it, `p′ = (p − t) / s`, and `inliers` is how many background features the fit kept. `s` must be > 0, `tx` and `ty` finite, `inliers` an integer ≥ 0, and there is one entry per frame; anything else is refused by name (`POSE_CAMERA`). The retarget does not apply it again: it prints a `CAMERA` line with the range of `s` and the three frames where it changes fastest. With `--plant-feet` and no `camera`, the `CAMERA` line says the floor may step with the picture, since a zoom or a pan in the video moves the floor with it. An optional `cameraSource` string says where the camera came from: `"tracked"` or `"hand-labelled, N keys"`. It is refused without a `camera`, or when it is not a non-empty string (`POSE_CAMERA_SOURCE`), and the `CAMERA` line starts with it (`CAMERA tracked: …`; a sequence with a `camera` and no `cameraSource` prints `CAMERA (source not stated): …`). `tools/scan.py` (not shipped) reads the camera off the video's background and writes the normalised sequence with `"cameraSource": "tracked"`. A frame whose fit keeps too few background features is refused by name, and nothing is written. Where the background cannot be tracked, `tools/scan.py --camera-file` takes a hand-written camera instead, a `rig-pose-camera/1` file: `{ "spec": "rig-pose-camera/1", "keys": [ { "frame", "s", "tx", "ty" } ], "note"? }`. Its frames are integers of the pose and strictly increase, `s` is > 0, and `tx` and `ty` are finite. Values are linear between keys and held before the first key and after the last. `inliers` is 0 on every frame, since no feature was fitted, and anything malformed is refused by name (`CAMERA_FILE`). `tools/scan_selftest.py` is the synthetic check of both paths.
+**The camera** ([#63](https://github.com/rig-c/pose/issues/63)). A sequence may carry an optional `camera`, one `{ "s", "tx", "ty", "inliers" }` per frame: the picture's scale and translation against frame 0's, so a point p₀ of frame 0's picture appears at `s · p₀ + (tx, ty)` on that frame. Its joints are then already normalised by it, `p′ = (p − t) / s`, and `inliers` is how many background features the fit kept. `s` must be > 0, `tx` and `ty` finite, `inliers` an integer ≥ 0, and there is one entry per frame; anything else is refused by name (`POSE_CAMERA`). The retarget does not apply it again: it prints a `CAMERA` line with the range of `s` and the three frames where it changes fastest. With `--plant-feet` and no `camera`, the `CAMERA` line says the floor may step with the picture, since a zoom or a pan in the video moves the floor with it. An optional `cameraSource` string says where the camera came from: `"tracked"`, `"hand-labelled, N keys"` or `"hand windows, floor-snapped: …"`. It is refused without a `camera`, or when it is not a non-empty string (`POSE_CAMERA_SOURCE`), and the `CAMERA` line starts with it (`CAMERA tracked: …`; a sequence with a `camera` and no `cameraSource` prints `CAMERA (source not stated): …`). `tools/scan.py` (not shipped) writes the normalised sequence. It reads the sequence before `clean` does (scan → clean → retarget): a sequence that already carries a `cleaned` record is refused by name (`SCAN_AFTER_CLEAN`), since its cleaning was done with the camera's steps still in it. The camera can come three ways, exactly one per run:
+
+- **Tracked** (`--video`), where the background has texture to follow. The camera is read off the video's background, and the sequence is written with `"cameraSource": "tracked"`. A frame whose fit keeps too few background features is refused by name, and nothing is written.
+- **A hand file** (`--camera-file`), where the background cannot be tracked and the camera's values are known or judged by hand. The file is `rig-pose-camera/1`: `{ "spec": "rig-pose-camera/1", "keys": [ { "frame", "s", "tx", "ty" } ], "note"? }`. Its frames are integers of the pose and strictly increase, `s` is > 0, and `tx` and `ty` are finite. Values are linear between keys and held before the first key and after the last. `inliers` is 0 on every frame, since no feature was fitted, and anything malformed is refused by name (`CAMERA_FILE`). The source is `"hand-labelled, N keys"`.
+- **Hand windows, snapped on the floor** (`--camera-windows a-b,c-d,…`, [#82](https://github.com/rig-c/pose/issues/82)), where the background cannot be tracked and the camera zooms in steps with a full-body figure on the floor. The windows are the frames of each zoom, by eye. Each step is measured on the floor, the one background feature every full-body clip has. An ankle is planted on a frame when it is still both ways, moving less than the retarget's stillness threshold (0.01 leg lengths a frame, in one picture leg: the clip median of hip → ankle) from the previous frame and to the next (through `bun tools/supports.ts`, beside the retarget's own jumps from `supportsOf`). Jump frames are not excluded: the detector reads them on the uncorrected picture, so they carry the very camera steps the windows remove, and an airborne ankle cannot hold still over three frames. A frame read inside a detector jump is named in the source (`r 187 inside detector jump 187-193`), not refused. For each window and each ankle, y before and y after are the ankle's median picture y on the 3 planted frames nearest the window on each side, searched within 15 frames and never past a neighbouring window, and its ratio about the picture centre c is `(y_after − c_y) / (y_before − c_y)`. Where both ankles read, the step is the mean of the two, and their disagreement is always written. Where one reads, the window says which ankle alone. A window no ankle reads is refused by name (`CAMERA_WINDOWS`), and so are windows that are not `a ≤ b` inside the pose's frames, that overlap, or that leave no frame between them; nothing is written. s is 1 before the first window, multiplies by each step, is linear across a window and is held between windows, and `t = c (1 − s)`, so no pan is read. The slow drift between windows (a push-in) is held, not fitted: that is open. The source is `"hand windows, floor-snapped: a-b (r+l, l/r x.x %; r 83,84,85|97,100,104; l …), c-d (r alone; r …)"` (`no window` for none): each window names the frames every median stood on, before and after the bar, and the `CAMERA` line prints it. The step moves with those frames: a 3-frame median moved ±2 % with the frames picked on a reference clip, which over three windows decided whether 37 or 107 of its 265 support frames left the floor band ([#82](https://github.com/rig-c/pose/issues/82)). `--plot` draws both ankles' y with the windows shaded and the frames each window was read on marked, where a wrong window shows.
+
+`tools/scan_selftest.py` is the synthetic check of all three.
 
 **The older name.** `rig-c-pose-frames/0`, written by the extraction jobs this package's demos were made from, is the same file under another spec string. It has `space.units` "painting-px" and an `fps` key; each frame's `t` is the time read. It is read as it is.
 ## The map: `rig-pose-map/1`

package/cli.ts

@@ -8,7 +8,7 @@
  */
 import { readFileSync, writeFileSync } from 'node:fs';
 import pkg from './package.json' with { type: 'json' };
-import { clean, cleanLine, untestedText, LEGS, OCCLUSION_SCORE, OCCLUSION_WINDOW, SPIKE_TRUNKS, SPIKE_WINDOW, windowProblem } from './src/clean.ts';
+import { clean, cleanLine, holdRegions, unheldText, untestedText, HOLD_BLEND, HOLD_MIN_SECONDS, HOLD_REACH, HOLD_SPEED, HOLD_SPEED_WINDOW, LEGS, OCCLUSION_SCORE, OCCLUSION_WINDOW, SPIKE_TRUNKS, SPIKE_WINDOW, windowProblem } from './src/clean.ts';
 import { convertCoco17, readPoseSequence, writePoseSequence } from './src/pose.ts';
 import { parseWindows } from './src/compare.ts';
 import { lineOf, Refusal } from './src/problems.ts';
@@ -18,7 +18,7 @@ import { runRetarget, type RetargetArgs } from './src/run.ts';
 const HELP = `rig-pose ${pkg.version} — motion from a pose sequence onto a rig-c rig
 
 Usage:
-  rig-pose clean --pose <pose.json> --out <pose.clean.json> [--loop] [--legs 5] [--rest 7] [--coco] [--person <id>]
+  rig-pose clean --pose <pose.json> --out <pose.clean.json> [--loop] [--legs 5] [--rest 7] [--hold off] [--coco] [--person <id>]
   rig-pose retarget --rig <rig> --map <map.json> --pose <pose.json> --out <motion.json> [--name dance] [flags]
   rig-pose convert --coco <coco17.json> --out <pose.json>
   rig-pose compare --reference <pose.json> --render <pose.json> --map <map.json> [flags]
@@ -38,6 +38,9 @@ clean (required before retarget; rig-c/pose#67)
                         position the detector supplied but did not see — on every frame where they have one, and
                         the record says so (hipsInferred: { by: "declared" }). Positions are unchanged, so retarget's
                         keys are too; its POSTURE line does not read the hip tilt ("hip tilt not read: hips inferred")
+  --hold off            turn the stillness hold off (rig-c/pose#91); recorded as hold: "off"
+  --hold-speed <n>      the hold's speed limit, trunk lengths per frame (default: 0.015)
+  --hold-reach <n>      how far a held joint may lie from its span median, trunk lengths (default: 0.03)
 
   In order, each step printed with its figures: (1) spikes — a joint more than 0.2 trunk lengths
   (neck → mid_hip, the median over the clip) from its 5-frame median takes the median, each listed by
@@ -48,6 +51,12 @@ clean (required before retarget; rig-c/pose#67)
   A median is per coordinate over the window's frames where the joint has a position. A joint with no
   position on a frame is left without one (retarget holds it). States and scores are written as read.
   Jitter: the mean |second difference| of y over every joint, px/f², before and after.
+  (5) the stillness hold (rig-c/pose#91), per joint, on the cleaned positions: a span of ≥ 0.5 s where the
+  joint's 5-frame median speed (its movement from the frame before, in trunk lengths) is under --hold-speed and
+  it stays within --hold-reach of its own span median is written as that median, blended in linearly over the
+  6 frames before and out over the 6 after (two holds of a joint back to back, or under 6 frames apart, cross-fade
+  over the 6 frames plus the gap, centred on it, SEAM); each hold is printed (HOLD) and recorded with its jitter before and
+  after, and the joints not held where others are are named with the test each fails (UNHELD).
 
 retarget
   --rig <path>          the rig spec rigc builds from: a rig.json, or a directory holding one
@@ -91,7 +100,12 @@ retarget
                         rolling floor — the 95th-percentile y over ±1 s — for ≥ 2 frames) follows the pose's
                         travel and re-plants on landing; a supporting ankle moving > 0.03 leg lengths a frame
                         releases its plant to the other foot, or to the pose's travel, until it is still
-                        (< 0.01 for 2 frames) (FEET lines)
+                        (< 0.01 for 2 frames) (FEET lines). Every support span is planted on one floor: its
+                        supporting ankle moved in y onto the median of the spans' planted heights (world y on
+                        the rig, posed by rig-c), the hip and everything above with it; FEET lists each span's
+                        shift. On the 3 blend frames the supporting leg's scalex is stretched (k within
+                        [0.92, 1.08], past it listed) so its ankle stays on the floor (rig-c/pose#85)
+  --floor <y>           with --plant-feet: the floor's world y (rig units, y up) instead of the median
   --stance <leg lengths> with --plant-feet: on a frame outside the jumps, a free ankle within this many
                         leg lengths (FEET's) of the supporting one in the picture is planted too — its leg's
                         scalex keys stretched by k = (root y − floor y) / (root y − ankle y) until the foot
@@ -240,7 +254,7 @@ function legScaleOf(f: Map<string, string>): [number, number] | 'off' {
 }
 
 function retargetArgs(argv: string[]): RetargetArgs {
-  const f = parseFlags(argv, ['rig', 'map', 'pose', 'out', 'name', 'person', 'base-motion', 'images', 'min-score', 'smooth', 'flip', 'short', 'bends', 'bend-tolerance', 'switch-tolerance', 'switch-min', 'switch-at', 'profile', 'build', 'render', 'report', 'leg-scale', 'idle', 'merge', 'reduce', 'reduce-hip', 'stance'], ['coco', 'plant-feet', 'carry-idle', 'raised-by-head']);
+  const f = parseFlags(argv, ['rig', 'map', 'pose', 'out', 'name', 'person', 'base-motion', 'images', 'min-score', 'smooth', 'flip', 'short', 'bends', 'bend-tolerance', 'switch-tolerance', 'switch-min', 'switch-at', 'profile', 'build', 'render', 'report', 'leg-scale', 'idle', 'merge', 'reduce', 'reduce-hip', 'stance', 'floor'], ['coco', 'plant-feet', 'carry-idle', 'raised-by-head']);
   const bends = f.get('bends') ?? 'refuse';
   if (bends !== 'refuse' && bends !== 'clamp') throw new Usage(`--bends is "${bends}"; it must be refuse or clamp`);
   const switchAt = f.get('switch-at') ?? 'first';
@@ -266,6 +280,7 @@ function retargetArgs(argv: string[]): RetargetArgs {
     legScale: legScaleOf(f),
     plantFeet: f.has('plant-feet'),
     stance: stanceOf(f),
+    ...floorOf(f),
     raisedByHead: f.has('raised-by-head'),
     bends,
     bendTolerance: num(f, 'bend-tolerance', 0, (n) => n >= 0 && n < 180, 'degrees in [0, 180)'),
@@ -291,6 +306,14 @@ function stanceOf(f: Map<string, string>): number | 'off' {
   return v;
 }
 
+/** --floor (rig-c/pose#85): the floor's world y, only with --plant-feet; absent, the median of the spans' planted heights. */
+function floorOf(f: Map<string, string>): { floor?: number } {
+  if (!f.has('floor')) return {};
+  const v = num(f, 'floor', 0, () => true, 'a world y in rig units (a finite number)');
+  if (!f.has('plant-feet')) throw new Usage(`--floor is "${f.get('floor')}" without --plant-feet; it is the floor --plant-feet plants every support span on`);
+  return { floor: v };
+}
+
 /** --reduce and --reduce-hip (rig-c/pose#32): off unless given; the hip only with the bones. */
 function reduceOf(f: Map<string, string>): { reduce?: number; reduceHip?: number } {
   if (!f.has('reduce')) {
@@ -334,6 +357,21 @@ function compareArgs(argv: string[]): CompareArgs {
   };
 }
 
+/** The stillness hold's flags (#91): `--hold off`, or the thresholds (defaults 0.015 and 0.03). */
+function holdOf(f: Map<string, string>): { speed: number; reach: number } | 'off' {
+  const v = f.get('hold');
+  if (v !== undefined && v !== 'off') throw new Usage(`--hold is "${v}"; the hold runs by default, and the only value is "off"`);
+  if (v === 'off') {
+    const given = ['hold-speed', 'hold-reach'].filter((k) => f.has(k));
+    if (given.length > 0) throw new Usage(`${given.map((k) => `--${k}`).join(' and ')} with --hold off: the hold does not run, so ${given.length === 1 ? 'it changes' : 'they change'} nothing — drop ${given.length === 1 ? 'it' : 'them'} or the --hold off`);
+    return 'off';
+  }
+  return {
+    speed: num(f, 'hold-speed', HOLD_SPEED, (n) => n > 0, 'a number > 0 (trunk lengths per frame)'),
+    reach: num(f, 'hold-reach', HOLD_REACH, (n) => n > 0, 'a number > 0 (trunk lengths)'),
+  };
+}
+
 /** A window flag of clean: 1, or odd and ≥ 5 (`windowProblem`). */
 function windowOf(f: Map<string, string>, name: string, dflt: number): number {
   const v = f.get(name);
@@ -363,10 +401,10 @@ function runsOf(frames: number[]): string {
 
 /** `rig-pose clean` (#67): read, clean, print each step's figures, write. */
 function runClean(argv: string[], say: (l: string) => void): void {
-  const f = parseFlags(argv, ['pose', 'out', 'legs', 'rest', 'person'], ['loop', 'coco', 'hips-inferred']);
+  const f = parseFlags(argv, ['pose', 'out', 'legs', 'rest', 'person', 'hold', 'hold-speed', 'hold-reach'], ['loop', 'coco', 'hips-inferred']);
   const input = need(f, 'pose');
   const out = need(f, 'out');
-  const params = { loop: f.has('loop'), legs: windowOf(f, 'legs', 5), rest: windowOf(f, 'rest', 7), hipsInferred: f.has('hips-inferred') };
+  const params = { loop: f.has('loop'), legs: windowOf(f, 'legs', 5), rest: windowOf(f, 'rest', 7), hipsInferred: f.has('hips-inferred'), hold: holdOf(f) };
   const text = readFileSync(input, 'utf8');
   const seq = f.has('coco') ? convertCoco17(text, input) : readPoseSequence(text, input);
   const c = clean(seq, params, f.get('person'), input);
@@ -389,6 +427,18 @@ function runClean(argv: string[], say: (l: string) => void): void {
   }
   const jit = (v: number | null) => (v === null ? 'not measured' : `${fmt(v, 3)}`);
   say(`  JITTER mean |second difference| of y over ${c.triples} joint-frame triple(s): ${jit(c.record.jitter.before)} → ${jit(c.record.jitter.after)} px/f²${c.record.jitter.before !== null && c.record.jitter.after !== null && c.record.jitter.before > 0 ? ` (${fmt(100 * (1 - c.record.jitter.after / c.record.jitter.before), 1)}% lower)` : ''}`);
+  if (params.hold === 'off') say('  HOLD   off (--hold off): no stillness hold');
+  else {
+    const h = params.hold;
+    const span = (r: [number, number] | null, what: string) => (r === null ? `nothing ${what}` : `${what} ${r[0] === r[1] ? `frame ${r[0]}` : `frames ${r[0]}–${r[1]}`}`);
+    for (const x of c.holds) say(`  HOLD   joint "${x.joint}" frames ${x.frames[0]}–${x.frames[1]} (${tOf(x.frames[0])}–${tOf(x.frames[1])}, ${fmt(x.seconds, 3)} s): ${HOLD_SPEED_WINDOW}-frame median speed under ${h.speed} trunk/frame (largest ${fmt(x.speed, 4)}), within ${h.reach} trunk of its span median (largest ${fmt(x.reach, 4)}); written as that median, blended in over ${span(x.blendIn, 'before').replace('nothing before', 'nothing before it')}, out over ${span(x.blendOut, 'after').replace('nothing after', 'nothing after it')}; jitter inside ${jit(x.jitter.before)} → ${jit(x.jitter.after)} px/f²${x.jitter.after !== null && x.jitter.after > 0 ? ' (ramp)' : ''}`);
+    for (const x of c.seams) say(`  SEAM   joint "${x.joint}" frame ${x.frame} (${tOf(x.frame)}): two holds ${x.gap === 0 ? 'back to back' : `${x.gap} frame(s) apart`}, their medians ${fmt(x.step, 4)} trunk (${fmt(x.step * c.trunk.length)} px) apart; cross-faded over frames ${x.frame - x.gap - HOLD_BLEND / 2}–${x.frame + HOLD_BLEND / 2 - 1}, no frame moving more than 1/${HOLD_BLEND + x.gap} of it`);
+    for (const [a, b] of holdRegions(c.holds)) {
+      const not = c.unheld.filter((u) => u.frames[0] >= a && u.frames[1] <= b);
+      if (not.length > 0) say(`  UNHELD frames ${a}–${b}, where other joints are held: ${not.map(unheldText({ ...h, minSeconds: HOLD_MIN_SECONDS })).join(', ')}`);
+    }
+    say(`  HOLDS  ${c.holds.length} found over ${new Set(c.holds.map((x) => x.joint)).size} joint(s) (per joint: a span ≥ ${HOLD_MIN_SECONDS} s still by speed < ${h.speed} trunk/frame and reach ≤ ${h.reach} trunk; ${HOLD_BLEND}-frame blend in and out)`);
+  }
   if (c.inferred !== null) say(`  INFERRED r_hip on ${c.inferred.r_hip} frame(s), l_hip on ${c.inferred.l_hip} frame(s) of ${n} marked "inferred" (every frame where it has a position): declared at clean (--hips-inferred); positions and scores unchanged`);
   writeFileSync(out, writePoseSequence(c.seq));
   say(`  CLEAN  ${cleanLine(c.record)}`);

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rig-c/pose",
-  "version": "0.16.0",
+  "version": "0.17.0",
   "description": "Puts motion from a body-18 pose sequence onto a rig built with rig-c: bone keys in rig-c's motion format, checked through rig-c's gate before anything is written. A CLI for agents that cannot see the rig.",
   "type": "module",
   "bin": {