fasthamer 0.3.0

Realtime HaMeR 3D hand mesh recovery on the Apple Neural Engine: image in, MANO parameters + 3D/2D joints out

fasthamer

Realtime HaMeR 3D hand mesh recovery on the Apple Neural Engine. Give it an image, get MANO parameters, 3D joints, camera parameters, and 2D joints per hand — a MediaPipe-Hands-style API, but with a full 3D hand mesh behind it.

• Fast: whole model (ViT-H backbone + MANO head + MANO mesh) runs as one CoreML program on the ANE — ~30 FPS end-to-end with two hands at 640px on a fanless M4 MacBook Air, torch-free at runtime.
• Simple: fasthamer.load() → result = hands(rgb) → done.
• Complete outputs: MANO global_orient / hand_pose / betas (rotation matrices and axis-angle), 778-vertex mesh, 21 3D joints, camera intrinsics + per-hand translation, projected 2D joints.
• Batteries included: hand detection via fasthands (CoreML/ANE, ~1 ms) and a tiny C mesh rasterizer for overlays (~10x faster than pyrender, no GPU/OpenGL).

Requires macOS on Apple Silicon.

Install

MANO license required. fasthamer is built on the MANO hand model, which is free for non-commercial research but license-gated. Before installing, create an account at https://mano.is.tue.mpg.de and sign/accept the MANO license there. The CoreML model bundle has MANO-derived data baked into its weights, so by using fasthamer you agree to use it only under the terms of that license.

pip install fasthamer
fasthamer-setup

fasthamer-setup runs once: it asks you to confirm you've accepted the MANO license, then downloads the prebuilt CoreML model bundle (~470 MB) into ~/.cache/fasthamer. If you skip this step, the same prompt runs on your first fasthamer.load().

The first fasthamer.load() also compiles the model for your device (~30 s, one-time) and caches the compiled .mlmodelc; every load after that takes a couple of seconds.

Non-interactive environments (CI, scripts): set FASTHAMER_ACCEPT_MANO_LICENSE=1 to acknowledge the license, e.g. FASTHAMER_ACCEPT_MANO_LICENSE=1 fasthamer-setup.

Quickstart

import cv2
import fasthamer

hands = fasthamer.load()                       # mode="image" by default
rgb = cv2.cvtColor(cv2.imread("photo.jpg"), cv2.COLOR_BGR2RGB)
result = hands(rgb)

for hand in result:
    hand.is_right          # bool (left hands: see note below)
    hand.keypoints_2d      # (21, 2)  pixels in the input image
    hand.keypoints_3d      # (21, 3)  meters, hand-centered
    hand.keypoints_camera  # (21, 3)  meters, camera frame (= keypoints_3d + cam_t)
    hand.vertices          # (778, 3) MANO mesh, hand-centered
    hand.cam_t             # (3,)     hand -> camera translation
    hand.global_orient     # (3, 3)   MANO global orientation (rotation matrix)
    hand.hand_pose         # (15, 3, 3) MANO pose  (also .hand_pose_aa / .global_orient_aa)
    hand.betas             # (10,)    MANO shape

result.focal, result.cx, result.cy   # pinhole camera: u = f*X/Z + cx
overlay = hands.render(rgb, result)               # mesh overlay (C rasterizer)
overlay = fasthamer.draw_landmarks(overlay, result)  # 2D skeleton

Video mode

mode="video" enables temporal hand tracking in the detector (faster and smoother than per-frame detection) — feed frames sequentially:

hands = fasthamer.load(mode="video")
while True:
    ok, frame = cap.read()
    result = hands(cv2.cvtColor(frame, cv2.COLOR_BGR2RGB))

Examples:

• examples/image_demo.py — single image in, mesh + skeleton overlay out.
• examples/webcam_demo.py — minimal synchronous webcam loop (easiest to read).
• examples/webcam_threaded_demo.py — low-latency webcam demo: a background camera thread always serves the freshest frame, and a worker/display split keeps the window responsive while the mesh stays aligned to the frame it was computed on. Use this one if the simple demo feels laggy (cv2.VideoCapture otherwise hands you buffered, stale frames). Supports --no-display --max-frames N for benchmarking.

Conventions

• Input images are RGB uint8 (H×W×3).
• 3D outputs use a camera-style frame: x right, y down, z forward, meters. hand.vertices / hand.keypoints_3d are hand-centered; add hand.cam_t (or use the *_camera properties) for camera-frame coordinates. Projection uses the pinhole camera in the result (result.project(pts)).
• Joint order is MANO/OpenPose-style: wrist, then 4 joints each for thumb, index, middle, ring, pinky (fasthamer.HAND_EDGES has the skeleton).
• Left hands: HaMeR mirrors left-hand crops, so MANO parameters always describe a right MANO hand. vertices/keypoints_3d are already un-mirrored. To re-pose a left hand yourself, apply the params to a right-hand MANO model and negate x.
• hands.faces gives the (1538, 3) triangle faces (flip winding for left hands).

Options

fasthamer.load(
    mode="image",             # or "video"
    max_hands=2,
    detector="fasthands",     # or "mediapipe" (pip install "fasthamer[mediapipe]")
    model_dir=None,           # local bundle dir (skips download/license check)
    rescale_factor=2.0,       # hand-box padding before cropping
    swap_handedness=False,    # if handedness looks inverted (mirrored inputs)
    stabilize_handedness=False,  # video: lock R/L per hand across frames
    handedness_iou=0.3,       # IoU to treat a detection as the same hand
    handedness_ttl=10,        # drop a track after N unseen frames
    handedness_switch_frames=5,  # switch only after N consecutive disagreements
    force_handedness=None,    # "right" / "left" to pin it outright
    compute_units="CPU_AND_NE",
)

Handedness stability (video)

Detectors decide Right/Left from a single frame, so on hard footage — foreshortened, self-occluding hands, e.g. a wrist/egocentric camera — the label can flicker frame to frame. This is not cosmetic: HaMeR is a right-hand model, so "left" hands are mirror-flipped before the network and un-mirrored after. A flickered label produces mirror-wrong geometry on that frame (we measure ~200 mm of vertex jump on an otherwise identical frame), which is why relabeling the output afterwards is not enough.

stabilize_handedness=True fixes it upstream of the crop: each hand gets a persistent IoU-matched track, and a spatially continuous hand keeps the label it first appeared with. Tracks expire after handedness_ttl unseen frames so a genuinely new hand can re-acquire.

The lock is hysteretic, not permanent: a tracked hand only switches its label once the detector disagrees for handedness_switch_frames consecutive frames (default 5). A single agreeing frame resets the streak, so alternating flicker never accumulates into a switch — but a sustained correction still wins, so a genuinely misidentified hand recovers instead of staying wrong for the life of the track. Set handedness_switch_frames=0 for a permanent lock.

hands = fasthamer.load(mode="video", stabilize_handedness=True)
...
hands.reset()      # clear tracks when the video sequence restarts

For rigs where handedness is known and fixed (single-hand egocentric mounts), force_handedness="right" pins every detection outright — a stronger constraint that takes precedence over the tracker. Both are orthogonal to swap_handedness, which is a global flip applied by the detector.

FASTHAMER_MODEL_DIR (env) points at a local model bundle; FASTHAMER_ASSETS_URL overrides where the bundle is downloaded from.

How it works

MediaPipe-style palm detection (fasthands, ANE) finds hand boxes; each box is cropped HaMeR-style and run through a single CoreML mlprogram containing the ViT-H backbone (192×144 input, interpolated position embeddings), the MANO transformer head, and the MANO mesh — 6-bit palettized weights with the MANO buffers kept at fp16. Outputs match the reference HaMeR torch pipeline to <1 mm (fp16 noise floor). The overlay renderer is a small C rasterizer with supersampled anti-aliasing, compiled once on first use.

License

Code: MIT. The model weights are derived from the HaMeR checkpoint and the MANO model; MANO is licensed by the Max Planck Institute for non-commercial scientific research — you must register at https://mano.is.tue.mpg.de (which the first-run setup asks you to confirm) and comply with its license. Cite HaMeR and MANO in academic work.