diff --git a/src/xrt/tracking/hand/mercury/hg_interface.h b/src/xrt/tracking/hand/mercury/hg_interface.h index 139a9276a..12b90da5e 100644 --- a/src/xrt/tracking/hand/mercury/hg_interface.h +++ b/src/xrt/tracking/hand/mercury/hg_interface.h @@ -21,7 +21,8 @@ extern "C" { * @ingroup aux_tracking */ struct t_hand_tracking_sync * -t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib, enum hand_tracking_output_space output_space); +t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib, + enum hand_tracking_output_space output_space); #ifdef __cplusplus } // extern "C" diff --git a/src/xrt/tracking/hand/mercury/hg_sync.cpp b/src/xrt/tracking/hand/mercury/hg_sync.cpp index 7f4b845ed..d41b5f466 100644 --- a/src/xrt/tracking/hand/mercury/hg_sync.cpp +++ b/src/xrt/tracking/hand/mercury/hg_sync.cpp @@ -258,25 +258,27 @@ applyJointWidths(struct HandTracking *htd, struct xrt_hand_joint_set *set) .040f * .5f; // Measured my wrist thickness with calipers } -static bool handle_changed_image_size(HandTracking *htd, xrt_size &new_one_view_size) +static bool +handle_changed_image_size(HandTracking *htd, xrt_size &new_one_view_size) { int gcd_calib = std::gcd(htd->calibration_one_view_size_px.h, htd->calibration_one_view_size_px.w); int gcd_new = std::gcd(new_one_view_size.h, new_one_view_size.w); - int lcm_h_calib = htd->calibration_one_view_size_px.h/gcd_calib; - int lcm_w_calib = htd->calibration_one_view_size_px.w/gcd_calib; + int lcm_h_calib = htd->calibration_one_view_size_px.h / gcd_calib; + int lcm_w_calib = htd->calibration_one_view_size_px.w / gcd_calib; - int lcm_h_new = new_one_view_size.h/gcd_new; - int lcm_w_new = new_one_view_size.w/gcd_new; + int lcm_h_new = new_one_view_size.h / gcd_new; + int lcm_w_new = new_one_view_size.w / gcd_new; bool good = (lcm_h_calib == lcm_h_new) && (lcm_w_calib == lcm_w_new); if (!good) { - HT_WARN(htd, "Can't process this frame, wrong aspect ratio. What we wanted: %dx%d, what we got: %dx%d", lcm_h_calib, lcm_w_calib, lcm_h_new, lcm_w_new); + HT_WARN(htd, "Can't process this frame, wrong aspect ratio. What we wanted: %dx%d, what we got: %dx%d", + lcm_h_calib, lcm_w_calib, lcm_h_new, lcm_w_new); return false; } - htd->multiply_px_coord_for_undistort = (float)htd->calibration_one_view_size_px.h/(float)new_one_view_size.h; + htd->multiply_px_coord_for_undistort = (float)htd->calibration_one_view_size_px.h / (float)new_one_view_size.h; htd->last_frame_one_view_size_px = new_one_view_size; return true; } @@ -343,10 +345,10 @@ HandTracking::cCallbackProcess(struct t_hand_tracking_sync *ht_sync, assert(left_frame->height == right_frame->height); const int full_height = left_frame->height; - const int full_width = left_frame->width*2; + const int full_width = left_frame->width * 2; - if ((left_frame->width != (uint32_t)htd->last_frame_one_view_size_px.w) || (left_frame->height != (uint32_t)htd->last_frame_one_view_size_px.h)) - { + if ((left_frame->width != (uint32_t)htd->last_frame_one_view_size_px.w) || + (left_frame->height != (uint32_t)htd->last_frame_one_view_size_px.h)) { xrt_size new_one_view_size; new_one_view_size.h = left_frame->height; new_one_view_size.w = left_frame->width; diff --git a/src/xrt/tracking/hand/mercury/hg_sync.hpp b/src/xrt/tracking/hand/mercury/hg_sync.hpp index b63ca3362..fd823dcf0 100644 --- a/src/xrt/tracking/hand/mercury/hg_sync.hpp +++ b/src/xrt/tracking/hand/mercury/hg_sync.hpp @@ -150,7 +150,7 @@ struct ht_view cv::Mat run_model_on_this; cv::Mat debug_out_to_this; - struct det_output det_outputs[2]; // left, right + struct det_output det_outputs[2]; // left, right struct keypoint_estimation_run_info run_info[2]; struct keypoint_output keypoint_outputs[2]; diff --git a/src/xrt/tracking/hand/old_rgb/rgb_interface.h b/src/xrt/tracking/hand/old_rgb/rgb_interface.h index cc6c17e08..0e6d73607 100644 --- a/src/xrt/tracking/hand/old_rgb/rgb_interface.h +++ b/src/xrt/tracking/hand/old_rgb/rgb_interface.h @@ -21,7 +21,7 @@ extern "C" { * @ingroup aux_tracking */ struct t_hand_tracking_sync * -t_hand_tracking_sync_old_rgb_create(struct t_stereo_camera_calibration * calib); +t_hand_tracking_sync_old_rgb_create(struct t_stereo_camera_calibration *calib); #ifdef __cplusplus diff --git a/src/xrt/tracking/hand/old_rgb/rgb_sync.cpp b/src/xrt/tracking/hand/old_rgb/rgb_sync.cpp index 403b5423e..e4812fbae 100644 --- a/src/xrt/tracking/hand/old_rgb/rgb_sync.cpp +++ b/src/xrt/tracking/hand/old_rgb/rgb_sync.cpp @@ -458,8 +458,8 @@ getCalibration(struct HandTracking *htd, t_stereo_camera_calibration *calibratio htd->one_view_size_px.w = wrap.view[0].image_size_pixels.w; htd->one_view_size_px.h = wrap.view[0].image_size_pixels.h; - U_LOG_E("%d %d %p %p", htd->one_view_size_px.w, htd->one_view_size_px.h, - (void *)&htd->one_view_size_px.w, (void *)&htd->one_view_size_px.h); + U_LOG_E("%d %d %p %p", htd->one_view_size_px.w, htd->one_view_size_px.h, (void *)&htd->one_view_size_px.w, + (void *)&htd->one_view_size_px.h); @@ -733,7 +733,7 @@ htExitFrame(struct HandTracking *htd, uint64_t timestamp, struct xrt_hand_joint_set *out_left, struct xrt_hand_joint_set *out_right, - uint64_t *out_timestamp_ns) + uint64_t *out_timestamp_ns) { os_mutex_lock(&htd->openxr_hand_data_mediator); @@ -805,7 +805,7 @@ HandTracking::cCallbackProcess(struct t_hand_tracking_sync *ht_sync, struct xrt_frame *right_frame, struct xrt_hand_joint_set *out_left_hand, struct xrt_hand_joint_set *out_right_hand, - uint64_t *out_timestamp_ns) + uint64_t *out_timestamp_ns) { XRT_TRACE_MARKER(); @@ -827,7 +827,7 @@ HandTracking::cCallbackProcess(struct t_hand_tracking_sync *ht_sync, assert(left_frame->height == right_frame->height); const int full_height = left_frame->height; - const int full_width = left_frame->width*2; + const int full_width = left_frame->width * 2; const int view_width = htd->one_view_size_px.w; const int view_height = htd->one_view_size_px.h; @@ -1002,8 +1002,8 @@ HandTracking::cCallbackProcess(struct t_hand_tracking_sync *ht_sync, htd->histories_3d[past_indices[i]].last_hands_unfiltered.push_back( hands_unfiltered[present_indices[i]]); } - // The preceding may not do anything, because we'll start out with no hand histories! All the numbers of elements - // should be zero. + // The preceding may not do anything, because we'll start out with no hand histories! All the numbers of + // elements should be zero. for (size_t i = 0; i < present_hands_taken.size(); i++) { @@ -1189,7 +1189,8 @@ HandTracking::cCallbackProcess(struct t_hand_tracking_sync *ht_sync, applyJointWidths(put_in_set); applyJointOrientations(put_in_set, xr_indices[i]); } - htExitFrame(htd, false, final_hands_ordered_by_handedness, filtered_hands[0].timestamp, out_left_hand, out_right_hand, out_timestamp_ns); + htExitFrame(htd, false, final_hands_ordered_by_handedness, filtered_hands[0].timestamp, out_left_hand, + out_right_hand, out_timestamp_ns); } void @@ -1216,7 +1217,7 @@ t_hand_tracking_sync_old_rgb_create(struct t_stereo_camera_calibration *calib) auto htd = new HandTracking(); - U_LOG_E("htd is at %p", (void*)htd); + U_LOG_E("htd is at %p", (void *)htd); // Setup logging first. We like logging. htd->log_level = debug_get_log_option_ht_log(); diff --git a/src/xrt/tracking/hand/old_rgb/rgb_sync.hpp b/src/xrt/tracking/hand/old_rgb/rgb_sync.hpp index 8dcc1903e..63bc74b74 100644 --- a/src/xrt/tracking/hand/old_rgb/rgb_sync.hpp +++ b/src/xrt/tracking/hand/old_rgb/rgb_sync.hpp @@ -295,7 +295,7 @@ public: struct xrt_frame *right_frame, struct xrt_hand_joint_set *out_left_hand, struct xrt_hand_joint_set *out_right_hand, - uint64_t *out_timestamp_ns); + uint64_t *out_timestamp_ns); static void cCallbackDestroy(t_hand_tracking_sync *ht_sync);