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xrt: Rename some hand-tracking structs and document them better

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This commit is contained in:
Moses Turner 2022-06-21 20:37:08 +01:00
parent 9063c7dd82
commit 1718d01fb1
7 changed files with 80 additions and 37 deletions
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10
src/xrt/drivers/ht/ht_driver.c
View file

@ -287,7 +287,7 @@ ht_device_create_index(struct xrt_prober *xp, struct t_stereo_camera_calibration
sync = t_hand_tracking_sync_old_rgb_create(calib);
} else {
struct hand_tracking_image_boundary_info info;
struct t_image_boundary_info info;
info.views[0].type = HT_IMAGE_BOUNDARY_CIRCLE;
info.views[1].type = HT_IMAGE_BOUNDARY_CIRCLE;
@ -357,9 +357,9 @@ ht_device_create_index(struct xrt_prober *xp, struct t_stereo_camera_calibration
int
ht_device_create(struct xrt_frame_context *xfctx,
struct t_stereo_camera_calibration *calib,
enum hand_tracking_output_space output_space,
enum hand_tracking_algorithm algorithm_choice,
struct hand_tracking_image_boundary_info boundary_info,
enum t_hand_tracking_output_space output_space,
enum t_hand_tracking_algorithm algorithm_choice,
struct t_image_boundary_info boundary_info,
struct xrt_slam_sinks **out_sinks,
struct xrt_device **out_device)
{
@ -400,7 +400,7 @@ ht_device_create_depthai_ov9282()
struct t_hand_tracking_sync *sync;
struct hand_tracking_image_boundary_info info;
struct t_image_boundary_info info;
info.views[0].type = HT_IMAGE_BOUNDARY_NONE;
info.views[1].type = HT_IMAGE_BOUNDARY_NONE;

6
src/xrt/drivers/ht/ht_interface.h
View file

@ -55,9 +55,9 @@ ht_device_create_index(struct xrt_prober *xp, struct t_stereo_camera_calibration
int
ht_device_create(struct xrt_frame_context *xfctx,
struct t_stereo_camera_calibration *calib,
enum hand_tracking_output_space output_space,
enum hand_tracking_algorithm algorithm_choice,
struct hand_tracking_image_boundary_info boundary_info,
enum t_hand_tracking_output_space output_space,
enum t_hand_tracking_algorithm algorithm_choice,
struct t_hand_tracking_image_boundary_info boundary_info,
struct xrt_slam_sinks **out_sinks,
struct xrt_device **out_device);

2
src/xrt/drivers/wmr/wmr_hmd.c
View file

@ -1488,7 +1488,7 @@ wmr_hmd_hand_track(struct wmr_hmd *wh,
#ifdef XRT_BUILD_DRIVER_HANDTRACKING
//!@todo Turning it off is okay for now, but we should plug metric_radius (or whatever it's called) in, at some
//! point.
struct hand_tracking_image_boundary_info boundary_info;
struct t_hand_tracking_image_boundary_info boundary_info;
boundary_info.views[0].type = HT_IMAGE_BOUNDARY_NONE;
boundary_info.views[1].type = HT_IMAGE_BOUNDARY_NONE;

81
src/xrt/include/tracking/t_hand_tracking.h
View file

@ -18,25 +18,27 @@
extern "C" {
#endif
enum hand_tracking_output_space
{
HT_OUTPUT_SPACE_LEFT_CAMERA,
HT_OUTPUT_SPACE_CENTER_OF_STEREO_CAMERA,
};
enum hand_tracking_algorithm
{
HT_ALGORITHM_MERCURY,
HT_ALGORITHM_OLD_RGB
};
enum hand_tracking_image_boundary_type
/*!
* @brief Image boundary type.
*
* Currently used by hand-tracking to determine if parts of the hand are not visible to the camera, ie. they are outside
* of the camera's vignette.
* @ingroup xrt_iface
*/
enum t_image_boundary_type
{
HT_IMAGE_BOUNDARY_NONE,
HT_IMAGE_BOUNDARY_CIRCLE,
};
struct hand_tracking_image_boundary_circle
/*!
* @brief Circular image boundary.
*
* Currently used by hand-tracking to determine if parts of the hand are not visible to the camera, ie. they are outside
* of the camera's vignette.
* @ingroup xrt_iface
*/
struct t_image_boundary_circle
{
// The center, in normalized 0-1 UV coordinates.
// Should probably be between 0 and 1 in pixel coordinates.
@ -46,19 +48,58 @@ struct hand_tracking_image_boundary_circle
float normalized_radius;
};
struct hand_tracking_image_boundary_info_one_view
/*!
* @brief Image boundary for one view.
*
* Currently used by hand-tracking to determine if parts of the hand are not visible to the camera, ie. they are outside
* of the camera's vignette.
* @ingroup xrt_iface
*/
struct t_image_boundary_info_one_view
{
enum hand_tracking_image_boundary_type type;
enum t_image_boundary_type type;
union {
struct hand_tracking_image_boundary_circle circle;
struct t_image_boundary_circle circle;
} boundary;
};
struct hand_tracking_image_boundary_info
/*!
* @brief Image boundaries for all the cameras used in a tracking system.
*
* Currently used by hand-tracking to determine if parts of the hand are not visible to the camera, ie. they are outside
* of the camera's vignette.
* @ingroup xrt_iface
*/
struct t_image_boundary_info
{
//!@todo Hardcoded to 2 - needs to increase as we support headsets with more cameras.
struct hand_tracking_image_boundary_info_one_view views[2];
struct t_image_boundary_info_one_view views[2];
};
/*!
* @brief Output coordinate system of the hand-tracking system.
*
* In HT_OUTPUT_SPACE_LEFT_CAMERA, the origin is at the left camera.
* In HT_OUTPUT_SPACE_CENTER_OF_STEREO_CAMERA (which you should not be using, because it assumes that your camera is a
* parallel stereo camera), the origin is at the "centerline" between the two main cameras.
* @ingroup xrt_iface
*/
enum t_hand_tracking_output_space
{
HT_OUTPUT_SPACE_LEFT_CAMERA,
HT_OUTPUT_SPACE_CENTER_OF_STEREO_CAMERA,
};
/*!
* @brief Which hand-tracking algorithm should we use?
*
* Never use HT_ALGORITHM_OLD_RGB. The tracking quality is extremely poor.
* @ingroup xrt_iface
*/
enum t_hand_tracking_algorithm
{
HT_ALGORITHM_MERCURY,
HT_ALGORITHM_OLD_RGB
};
/*!

4
src/xrt/tracking/hand/mercury/hg_interface.h
View file

@ -23,8 +23,8 @@ extern "C" {
*/
struct t_hand_tracking_sync *
t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib,
enum hand_tracking_output_space output_space,
struct hand_tracking_image_boundary_info boundary_info);
enum t_hand_tracking_output_space output_space,
struct t_image_boundary_info boundary_info);
#ifdef __cplusplus
} // extern "C"

10
src/xrt/tracking/hand/mercury/hg_sync.cpp
View file

@ -276,7 +276,9 @@ applyJointWidths(struct HandTracking *hgt, struct xrt_hand_joint_set *set)
template <typename Vec>
static inline bool
check_outside_view(struct HandTracking *hgt, struct hand_tracking_image_boundary_info_one_view boundary, Vec &keypoint)
check_outside_view(struct HandTracking *hgt,
struct t_hand_tracking_image_boundary_info_one_view boundary,
Vec &keypoint)
{
// Regular case - the keypoint is literally outside the image
if (keypoint.y > hgt->calibration_one_view_size_px.h || //
@ -679,7 +681,7 @@ scribble_image_boundary(struct HandTracking *hgt)
struct ht_view *view = &hgt->views[view_idx];
cv::Mat &debug_frame = view->debug_out_to_this;
hand_tracking_image_boundary_info_one_view &info = hgt->image_boundary_info.views[view_idx];
t_hand_tracking_image_boundary_info_one_view &info = hgt->image_boundary_info.views[view_idx];
if (info.type == HT_IMAGE_BOUNDARY_CIRCLE) {
int center_x = hgt->last_frame_one_view_size_px.w * info.boundary.circle.normalized_center.x;
@ -1024,8 +1026,8 @@ using namespace xrt::tracking::hand::mercury;
extern "C" t_hand_tracking_sync *
t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib,
enum hand_tracking_output_space output_space,
struct hand_tracking_image_boundary_info boundary_info)
enum t_hand_tracking_output_space output_space,
struct t_hand_tracking_image_boundary_info boundary_info)
{
XRT_TRACE_MARKER();

4
src/xrt/tracking/hand/mercury/hg_sync.hpp
View file

@ -187,7 +187,7 @@ public:
bool use_fisheye;
enum hand_tracking_output_space output_space;
enum t_hand_tracking_output_space output_space;
struct t_stereo_camera_calibration *calib;
@ -244,7 +244,7 @@ public:
struct xrt_pose left_in_right = {};
struct hand_tracking_image_boundary_info image_boundary_info;
struct t_image_boundary_info image_boundary_info;
u_frame_times_widget ft_widget = {};