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d/ht: Add hand tracking driver code skeleton

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This commit is contained in:
Christoph Haag 2020-11-23 23:04:29 +01:00 committed by Jakob Bornecrantz
parent f7a8e8810b
commit 717d3a27ef
14 changed files with 326 additions and 19 deletions
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32
CMakeLists.txt
View file

@ -163,6 +163,7 @@ cmake_dependent_option(XRT_BUILD_DRIVER_PSVR "Enable PSVR HMD driver" ON "HIDAPI
cmake_dependent_option(XRT_BUILD_DRIVER_RS "Enable RealSense device driver" ON "realsense2_FOUND" OFF)
cmake_dependent_option(XRT_BUILD_DRIVER_VIVE "Enable driver for HTC Vive, Vive Pro, Valve Index, and their controllers" ON "ZLIB_FOUND AND XRT_HAVE_LINUX" OFF)
cmake_dependent_option(XRT_BUILD_DRIVER_OHMD "Enable OpenHMD driver" ON "OPENHMD_FOUND" OFF)
cmake_dependent_option(XRT_BUILD_DRIVER_HANDTRACKING "Enable Camera Hand Tracking driver" ON "XRT_HAVE_V4L2" OFF)
cmake_dependent_option(XRT_BUILD_DRIVER_DAYDREAM "Enable the Google Daydream View controller driver (BLE, via D-Bus)" ON "XRT_HAVE_DBUS" OFF)
cmake_dependent_option(XRT_BUILD_DRIVER_ARDUINO "Enable Arduino input device with BLE via via D-Bus" ON "XRT_HAVE_DBUS" OFF)
@ -182,7 +183,7 @@ cmake_dependent_option(XRT_BUILD_DRIVER_ANDROID "Enable Android sensors driver"
# You can set this from a superproject to add a driver
# All drivers must be listed in here to be included in the generated header!
list(APPEND AVAILABLE_DRIVERS "ANDROID" ARDUINO DUMMY HDK HYDRA NS OHMD PSMV PSVR RS V4L2 VIVE DAYDREAM REMOTE SURVIVE)
list(APPEND AVAILABLE_DRIVERS "ANDROID" ARDUINO DUMMY HDK HYDRA NS OHMD PSMV PSVR RS V4L2 VIVE DAYDREAM REMOTE SURVIVE HANDTRACKING)
# Package name needs to be known by the native code itself.
@ -290,18 +291,19 @@ message(STATUS "# FEATURE_OPENXR_LAYER_EQUIRECT: ${XRT_FEATURE_OPENXR_
message(STATUS "# FEATURE_OPENXR_LAYER_EQUIRECT_LEGACY: ${XRT_FEATURE_OPENXR_LAYER_EQUIRECT_LEGACY}")
message(STATUS "# FEATURE_STEAMVR_PLUGIN: ${XRT_FEATURE_STEAMVR_PLUGIN}")
message(STATUS "#")
message(STATUS "# DRIVER_ANDROID: ${XRT_BUILD_DRIVER_ANDROID}")
message(STATUS "# DRIVER_ARDUINO: ${XRT_BUILD_DRIVER_ARDUINO}")
message(STATUS "# DRIVER_DAYDREAM: ${XRT_BUILD_DRIVER_DAYDREAM}")
message(STATUS "# DRIVER_DUMMY: ${XRT_BUILD_DRIVER_DUMMY}")
message(STATUS "# DRIVER_HDK: ${XRT_BUILD_DRIVER_HDK}")
message(STATUS "# DRIVER_HYDRA: ${XRT_BUILD_DRIVER_HYDRA}")
message(STATUS "# DRIVER_NS: ${XRT_BUILD_DRIVER_NS}")
message(STATUS "# DRIVER_OHMD: ${XRT_BUILD_DRIVER_OHMD}")
message(STATUS "# DRIVER_PSMV: ${XRT_BUILD_DRIVER_PSMV}")
message(STATUS "# DRIVER_PSVR: ${XRT_BUILD_DRIVER_PSVR}")
message(STATUS "# DRIVER_RS: ${XRT_BUILD_DRIVER_RS}")
message(STATUS "# DRIVER_REMOTE: ${XRT_BUILD_DRIVER_REMOTE}")
message(STATUS "# DRIVER_SURVIVE: ${XRT_BUILD_DRIVER_SURVIVE}")
message(STATUS "# DRIVER_VIVE: ${XRT_BUILD_DRIVER_VIVE}")
message(STATUS "# DRIVER_ANDROID: ${XRT_BUILD_DRIVER_ANDROID}")
message(STATUS "# DRIVER_ARDUINO: ${XRT_BUILD_DRIVER_ARDUINO}")
message(STATUS "# DRIVER_DAYDREAM: ${XRT_BUILD_DRIVER_DAYDREAM}")
message(STATUS "# DRIVER_DUMMY: ${XRT_BUILD_DRIVER_DUMMY}")
message(STATUS "# DRIVER_HDK: ${XRT_BUILD_DRIVER_HDK}")
message(STATUS "# DRIVER_HYDRA: ${XRT_BUILD_DRIVER_HYDRA}")
message(STATUS "# DRIVER_NS: ${XRT_BUILD_DRIVER_NS}")
message(STATUS "# DRIVER_OHMD: ${XRT_BUILD_DRIVER_OHMD}")
message(STATUS "# DRIVER_HANDTRACKING: ${XRT_BUILD_DRIVER_HANDTRACKING}")
message(STATUS "# DRIVER_PSMV: ${XRT_BUILD_DRIVER_PSMV}")
message(STATUS "# DRIVER_PSVR: ${XRT_BUILD_DRIVER_PSVR}")
message(STATUS "# DRIVER_RS: ${XRT_BUILD_DRIVER_RS}")
message(STATUS "# DRIVER_REMOTE: ${XRT_BUILD_DRIVER_REMOTE}")
message(STATUS "# DRIVER_SURVIVE: ${XRT_BUILD_DRIVER_SURVIVE}")
message(STATUS "# DRIVER_VIVE: ${XRT_BUILD_DRIVER_VIVE}")
message(STATUS "#####----- Config -----#####")

6
meson.build
View file

@ -161,6 +161,12 @@ if openhmd.found() and ('auto' in drivers or 'ohmd' in drivers)
endif
endif
if has_v4l2_header and ('auto' in drivers or 'handtracking' in drivers)
if 'handtracking' not in drivers
drivers += ['handtracking']
endif
endif
if hidapi.found() and ('auto' in drivers or 'psvr' in drivers or 'hdk' in drivers)
if 'psvr' not in drivers
drivers += ['psvr']

2
meson_options.txt
View file

@ -3,7 +3,7 @@
option('drivers',
type: 'array',
choices: ['auto', 'dummy', 'hdk', 'hydra', 'ns', 'ohmd', 'psmv', 'psvr', 'rs', 'v4l2', 'vive', 'survive', 'daydream', 'arduino', 'remote'],
choices: ['auto', 'dummy', 'hdk', 'hydra', 'ns', 'ohmd', 'psmv', 'psvr', 'rs', 'v4l2', 'vive', 'survive', 'daydream', 'arduino', 'remote', 'handtracking'],
value: ['auto'],
description: 'Set of drivers to build')

12
src/xrt/drivers/CMakeLists.txt
View file

@ -97,6 +97,18 @@ if(XRT_BUILD_DRIVER_OHMD)
list(APPEND ENABLED_HEADSET_DRIVERS openhmd)
endif()
if(XRT_BUILD_DRIVER_HANDTRACKING)
set(HT_SOURCE_FILES
ht/ht_driver.c
ht/ht_driver.h
ht/ht_interface.h
ht/ht_prober.c
)
add_library(drv_ht STATIC ${HT_SOURCE_FILES})
target_link_libraries(drv_ht PRIVATE xrt-interfaces aux_util aux_math)
list(APPEND ENABLED_DRIVERS ht)
endif()
if(XRT_BUILD_DRIVER_PSMV)
set(PSMOVE_SOURCE_FILES

114
src/xrt/drivers/ht/ht_driver.c Normal file
View file

@ -0,0 +1,114 @@
// Copyright 2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Camera based hand tracking driver code.
* @author Christtoph Haag <christtoph.haag@collabora.com>
* @ingroup drv_ht
*/
#include "ht_driver.h"
#include "util/u_device.h"
#include "util/u_var.h"
#include "util/u_debug.h"
#include <string.h>
struct ht_device
{
struct xrt_device base;
enum u_logging_level ll;
};
DEBUG_GET_ONCE_LOG_OPTION(ht_log, "HT_LOG", U_LOGGING_WARN)
#define HT_TRACE(htd, ...) U_LOG_XDEV_IFL_T(&htd->base, htd->ll, __VA_ARGS__)
#define HT_DEBUG(htd, ...) U_LOG_XDEV_IFL_D(&htd->base, htd->ll, __VA_ARGS__)
#define HT_INFO(htd, ...) U_LOG_XDEV_IFL_I(&htd->base, htd->ll, __VA_ARGS__)
#define HT_WARN(htd, ...) U_LOG_XDEV_IFL_W(&htd->base, htd->ll, __VA_ARGS__)
#define HT_ERROR(htd, ...) U_LOG_XDEV_IFL_E(&htd->base, htd->ll, __VA_ARGS__)
static inline struct ht_device *
ht_device(struct xrt_device *xdev)
{
return (struct ht_device *)xdev;
}
static void
ht_device_update_inputs(struct xrt_device *xdev)
{
// Empty
}
static void
ht_device_get_hand_tracking(struct xrt_device *xdev,
enum xrt_input_name name,
uint64_t at_timestamp_ns,
struct xrt_hand_joint_set *out_value)
{
struct ht_device *htd = ht_device(xdev);
enum xrt_hand hand;
int index;
if (name == XRT_INPUT_GENERIC_HAND_TRACKING_LEFT) {
HT_TRACE(htd, "Get left hand tracking data");
index = 0;
hand = XRT_HAND_LEFT;
} else if (name == XRT_INPUT_GENERIC_HAND_TRACKING_RIGHT) {
HT_TRACE(htd, "Get right hand tracking data");
index = 1;
hand = XRT_HAND_RIGHT;
} else {
HT_ERROR(htd, "unknown input name for hand tracker");
return;
}
}
static void
ht_device_destroy(struct xrt_device *xdev)
{
struct ht_device *htd = ht_device(xdev);
// Remove the variable tracking.
u_var_remove_root(htd);
u_device_free(&htd->base);
}
struct xrt_device *
ht_device_create(struct xrt_auto_prober *xap,
cJSON *attached_data,
struct xrt_prober *xp)
{
enum u_device_alloc_flags flags =
(enum u_device_alloc_flags)(U_DEVICE_ALLOC_TRACKING_NONE);
//! @todo 2 hands hardcoded
int num_hands = 2;
struct ht_device *htd =
U_DEVICE_ALLOCATE(struct ht_device, flags, num_hands, 0);
htd->ll = debug_get_log_option_ht_log();
htd->base.update_inputs = ht_device_update_inputs;
htd->base.get_hand_tracking = ht_device_get_hand_tracking;
htd->base.destroy = ht_device_destroy;
strncpy(htd->base.str, "Camera based Hand Tracker",
XRT_DEVICE_NAME_LEN);
htd->base.inputs[0].name = XRT_INPUT_GENERIC_HAND_TRACKING_LEFT;
htd->base.inputs[1].name = XRT_INPUT_GENERIC_HAND_TRACKING_RIGHT;
htd->base.name = XRT_DEVICE_HAND_TRACKER;
u_var_add_root(htd, "Camera based Hand Tracker", true);
u_var_add_ro_text(htd, htd->base.str, "Name");
HT_DEBUG(htd, "Hand Tracker initialized!");
return &htd->base;
}

26
src/xrt/drivers/ht/ht_driver.h Normal file
View file

@ -0,0 +1,26 @@
// Copyright 2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Interface to camera based hand tracking driver code.
* @author Christtoph Haag <christtoph.haag@collabora.com>
* @ingroup drv_ht
*/
#pragma once
#include "math/m_api.h"
#include "xrt/xrt_device.h"
#include "xrt/xrt_prober.h"
#ifdef __cplusplus
extern "C" {
#endif
struct xrt_device *
ht_device_create();
#ifdef __cplusplus
}
#endif

41
src/xrt/drivers/ht/ht_interface.h Normal file
View file

@ -0,0 +1,41 @@
// Copyright 2029, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Interface to camera based hand tracking driver code.
* @author Christoph Haag <christoph.haag@collabora.com>
* @ingroup drv_ht
*/
#pragma once
#include "math/m_api.h"
#include "xrt/xrt_device.h"
#ifdef __cplusplus
extern "C" {
#endif
/*!
* @defgroup drv_ht Camera based hand tracking
* @ingroup drv
*
* @brief
*/
/*!
* Create a probe for camera based hand tracking.
*
* @ingroup drv_ht
*/
struct xrt_auto_prober *
ht_create_auto_prober();
/*!
* @dir drivers/handtracking
*
* @brief @ref drv_ht files.
*/
#ifdef __cplusplus
}
#endif

70
src/xrt/drivers/ht/ht_prober.c Normal file
View file

@ -0,0 +1,70 @@
// Copyright 2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Camera based hand tracking prober code.
* @author Christoph Haag <christoph.haag@collabora.com>
* @ingroup drv_ht
*/
#include "xrt/xrt_prober.h"
#include "util/u_misc.h"
#include "ht_interface.h"
#include "ht_driver.h"
/*!
* @implements xrt_auto_prober
*/
struct ht_prober
{
struct xrt_auto_prober base;
};
//! @private @memberof ht_prober
static inline struct ht_prober *
ht_prober(struct xrt_auto_prober *p)
{
return (struct ht_prober *)p;
}
//! @public @memberof ht_prober
static void
ht_prober_destroy(struct xrt_auto_prober *p)
{
struct ht_prober *htp = ht_prober(p);
free(htp);
}
//! @public @memberof ht_prober
static struct xrt_device *
ht_prober_autoprobe(struct xrt_auto_prober *xap,
cJSON *attached_data,
bool no_hmds,
struct xrt_prober *xp)
{
struct ht_prober *htp = ht_prober(xap);
struct xrt_device *xdev = ht_device_create(xap, attached_data, xp);
xdev->orientation_tracking_supported = true;
xdev->position_tracking_supported = true;
xdev->hand_tracking_supported = true;
xdev->device_type = XRT_DEVICE_TYPE_HAND_TRACKER;
return xdev;
}
struct xrt_auto_prober *
ht_create_auto_prober()
{
struct ht_prober *htp = U_TYPED_CALLOC(struct ht_prober);
htp->base.name = "Camera Hand Tracking";
htp->base.destroy = ht_prober_destroy;
htp->base.lelo_dallas_autoprobe = ht_prober_autoprobe;
return &htp->base;
}

13
src/xrt/drivers/meson.build
View file

@ -58,6 +58,19 @@ lib_drv_ns = static_library(
build_by_default: 'ns' in drivers,
)
lib_drv_ht = static_library(
'drv_ht',
files(
'ht/ht_driver.c',
'ht/ht_driver.h',
'ht/ht_interface.h',
'ht/ht_prober.c',
),
include_directories: xrt_include,
dependencies: [aux],
build_by_default: 'handtracking' in drivers,
)
lib_drv_ohmd = static_library(
'drv_ohmd',
files(

9
src/xrt/include/xrt/xrt_defines.h
View file

@ -418,7 +418,9 @@ enum xrt_device_name
XRT_DEVICE_INDEX_CONTROLLER,
XRT_DEVICE_VIVE_WAND,
XRT_DEVICE_VIVE_TRACKER_GEN1,
XRT_DEVICE_VIVE_TRACKER_GEN2
XRT_DEVICE_VIVE_TRACKER_GEN2,
XRT_DEVICE_HAND_TRACKER,
};
/*!
@ -433,7 +435,8 @@ enum xrt_device_type
XRT_DEVICE_TYPE_RIGHT_HAND_CONTROLLER,
XRT_DEVICE_TYPE_LEFT_HAND_CONTROLLER,
XRT_DEVICE_TYPE_ANY_HAND_CONTROLLER,
XRT_DEVICE_TYPE_GENERIC_TRACKER
XRT_DEVICE_TYPE_GENERIC_TRACKER,
XRT_DEVICE_TYPE_HAND_TRACKER,
};
/*!
@ -497,7 +500,7 @@ enum xrt_input_name
XRT_INPUT_GENERIC_HEAD_POSE = XRT_INPUT_NAME(0x0000, POSE),
XRT_INPUT_GENERIC_HEAD_DETECT = XRT_INPUT_NAME(0x0001, BOOLEAN),
XRT_INPUT_GENERIC_HAND_TRACKING_LEFT = XRT_INPUT_NAME(0x0002, HAND_TRACKING),
XRT_INPUT_GENERIC_HAND_TRACKING_RIGHT = XRT_INPUT_NAME(0x0003, HAND_TRACKING),
XRT_INPUT_GENERIC_HAND_TRACKING_RIGHT = XRT_INPUT_NAME(0x0004, HAND_TRACKING),
XRT_INPUT_SIMPLE_SELECT_CLICK = XRT_INPUT_NAME(0x0010, BOOLEAN),
XRT_INPUT_SIMPLE_MENU_CLICK = XRT_INPUT_NAME(0x0011, BOOLEAN),

4
src/xrt/targets/cli/cli_cmd_probe.c
View file

@ -52,6 +52,10 @@ cli_cmd_probe(int argc, const char **argv)
printf(" OpenHMD,");
#endif
#ifdef XRT_BUILD_DRIVER_HANDTRACKING
printf(" Hand Tracking,");
#endif
#ifdef XRT_BUILD_DRIVER_DAYDREAM
printf(" Daydream,");
#endif

4
src/xrt/targets/common/CMakeLists.txt
View file

@ -48,6 +48,10 @@ if(XRT_BUILD_DRIVER_OHMD)
target_link_libraries(target_lists PRIVATE drv_ohmd)
endif()
if(XRT_BUILD_DRIVER_HANDTRACKING)
target_link_libraries(target_lists PRIVATE drv_ht)
endif()
if(XRT_BUILD_DRIVER_PSMV)
target_link_libraries(target_lists PRIVATE drv_psmv)
endif()

8
src/xrt/targets/common/target_lists.c
View file

@ -26,6 +26,10 @@
#include "ohmd/oh_interface.h"
#endif
#ifdef XRT_BUILD_DRIVER_HANDTRACKING
#include "ht/ht_interface.h"
#endif
#ifdef XRT_BUILD_DRIVER_NS
#include "north_star/ns_interface.h"
#endif
@ -133,6 +137,10 @@ xrt_auto_prober_creator target_auto_list[] = {
oh_create_auto_prober,
#endif
#ifdef XRT_BUILD_DRIVER_HANDTRACKING
ht_create_auto_prober,
#endif
#ifdef XRT_BUILD_DRIVER_NS
// North star driver here for now.
ns_create_auto_prober,

4
src/xrt/targets/meson.build
View file

@ -32,6 +32,10 @@ if 'ohmd' in drivers
driver_libs += [lib_drv_ohmd]
endif
if 'handtracking' in drivers
driver_libs += [lib_drv_ht]
endif
if 'psmv' in drivers
driver_libs += [lib_drv_psmv]
endif