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h/mercury: Don't show hands until tracked for 10 frames

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This commit is contained in:
Moshi Turner 2023-03-03 17:51:04 -06:00
parent 84bae0b8ca
commit 7f5562c765
3 changed files with 20 additions and 5 deletions
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1
src/xrt/tracking/hand/mercury/hg_debug_instrumentation.hpp
View file

@ -39,6 +39,7 @@ struct hg_tuneable_values
bool always_run_detection_model = false;
bool optimize_hand_size = true;
int max_num_outside_view = 6;
size_t num_frames_before_display = 10;
bool enable_pose_predicted_input = true;
bool enable_framerate_based_smoothing = false;

13
src/xrt/tracking/hand/mercury/hg_sync.cpp
View file

@ -507,7 +507,7 @@ predict_new_regions_of_interest(struct HandTracking *hgt)
// If we only have *one* frame, we just reuse the same bounding box and hope the hand
// hasn't moved too much. @todo
HistoryBuffer<Eigen::Array<float, 3, 21>, 5> &hh = hgt->history_hands[hand_idx];
auto &hh = hgt->history_hands[hand_idx];
if (hh.size() < 2) {
@ -974,6 +974,7 @@ HandTracking::cCallbackProcess(struct t_hand_tracking_sync *ht_sync,
);
hgt->history_hands[hand_idx].push_back(asf);
hgt->hand_tracked_for_num_frames[hand_idx]++;
}
// More hand-size-optimization spaghetti
@ -993,6 +994,7 @@ HandTracking::cCallbackProcess(struct t_hand_tracking_sync *ht_sync,
hgt->views[0].regions_of_interest_this_frame[hand_idx].found = false;
hgt->views[1].regions_of_interest_this_frame[hand_idx].found = false;
hgt->history_hands[hand_idx].clear();
hgt->hand_tracked_for_num_frames[hand_idx] = 0;
}
}
@ -1012,6 +1014,12 @@ HandTracking::cCallbackProcess(struct t_hand_tracking_sync *ht_sync,
}
}
for (int hand_idx = 0; hand_idx < 2; hand_idx++) {
// Don't send the hand to OpenXR until it's been tracked for 4 frames
if (hgt->hand_tracked_for_num_frames[hand_idx] < hgt->tuneable_values.num_frames_before_display) {
out_xrt_hands[hand_idx]->is_active = false;
}
}
// If the debug UI is active, push to the frame-timing widget
u_frame_times_widget_push_sample(&hgt->ft_widget, hgt->current_frame_timestamp);
@ -1194,6 +1202,9 @@ t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib,
u_var_add_i32(hgt, &hgt->tuneable_values.max_num_outside_view,
"max allowed number of hand joints outside view");
u_var_add_u64(hgt, &hgt->tuneable_values.num_frames_before_display,
"Number of frames before we show hands to OpenXR");
u_var_add_bool(hgt, &hgt->tuneable_values.scribble_predictions_into_next_frame,
"Scribble pose-predictions into next frame");

11
src/xrt/tracking/hand/mercury/hg_sync.hpp
View file

@ -303,12 +303,15 @@ public:
// Used to decide whether to run the keypoint estimator/nonlinear optimizer.
bool this_frame_hand_detected[2] = {false, false};
// Used to determine pose-predicted regions of interest. Contains the last five hand keypoint positions, or less
// Used to determine pose-predicted regions of interest. Contains the last 2 hand keypoint positions, or less
// if the hand has just started being tracked.
HistoryBuffer<Eigen::Array<float, 3, 21>, 5> history_hands[2] = {};
HistoryBuffer<Eigen::Array<float, 3, 21>, 2> history_hands[2] = {};
// Contains the last 5 timestamps, or less if hand tracking has just started.
HistoryBuffer<uint64_t, 5> history_timestamps = {};
// Contains the last 2 timestamps, or less if hand tracking has just started.
HistoryBuffer<uint64_t, 2> history_timestamps = {};
// It'd be a staring contest between your hand and the heat death of the universe!
uint64_t hand_tracked_for_num_frames[2] = {0, 0};
// left hand, right hand