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xrt: Remove t_hand_tracking_output_space

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LEFT_CAMERA is the only one that remained useful
This commit is contained in:
Moses Turner 2022-07-26 02:01:28 +01:00 committed by Jakob Bornecrantz
parent a5c0f0b426
commit c0eed827c5
8 changed files with 13 additions and 118 deletions
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5
src/xrt/drivers/ht/ht_driver.c
View file

@ -240,7 +240,6 @@ ht_device_create_common(struct t_stereo_camera_calibration *calib,
int
ht_device_create(struct xrt_frame_context *xfctx,
struct t_stereo_camera_calibration *calib,
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,
@ -254,7 +253,7 @@ ht_device_create(struct xrt_frame_context *xfctx,
switch (algorithm_choice) {
case HT_ALGORITHM_MERCURY: {
sync = t_hand_tracking_sync_mercury_create(calib, output_space, boundary_info);
sync = t_hand_tracking_sync_mercury_create(calib, boundary_info);
} break;
case HT_ALGORITHM_OLD_RGB: {
//!@todo Either have this deal with the output space correctly, or have everything use LEFT_CAMERA
@ -296,7 +295,7 @@ ht_device_create_depthai_ov9282()
info.views[0].type = HT_IMAGE_BOUNDARY_NONE;
info.views[1].type = HT_IMAGE_BOUNDARY_NONE;
sync = t_hand_tracking_sync_mercury_create(calib, HT_OUTPUT_SPACE_LEFT_CAMERA, info);
sync = t_hand_tracking_sync_mercury_create(calib, info);
struct ht_device *htd = ht_device_create_common(calib, true, &xfctx, sync);

2
src/xrt/drivers/ht/ht_interface.h
View file

@ -46,7 +46,6 @@ ht_device_create_index(struct xrt_prober *xp, struct t_stereo_camera_calibration
*
* @param xfctx WMR context to attach the tracker to
* @param calib Calibration struct for stereo camera
* @param output_space What the origin of the output data should be
* @param algorithm_choice Which algorithm to use for hand tracking
* @param out_sinks Sinks to stream camera data to
* @param out_device Newly created hand tracker "device"
@ -55,7 +54,6 @@ 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 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,

11
src/xrt/drivers/wmr/wmr_hmd.c
View file

@ -1497,12 +1497,11 @@ wmr_hmd_hand_track(struct wmr_hmd *wh,
boundary_info.views[0].type = HT_IMAGE_BOUNDARY_NONE;
boundary_info.views[1].type = HT_IMAGE_BOUNDARY_NONE;
int create_status = ht_device_create(&wh->tracking.xfctx, //
stereo_calib, //
HT_OUTPUT_SPACE_LEFT_CAMERA, //
HT_ALGORITHM_MERCURY, //
boundary_info, //
&sinks, //
int create_status = ht_device_create(&wh->tracking.xfctx, //
stereo_calib, //
HT_ALGORITHM_MERCURY, //
boundary_info, //
&sinks, //
&device);
if (create_status != 0) {
return create_status;

14
src/xrt/include/tracking/t_hand_tracking.h
View file

@ -76,20 +76,6 @@ struct t_image_boundary_info
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?
*

11
src/xrt/targets/common/target_builder_lighthouse.c
View file

@ -210,12 +210,11 @@ lighthouse_hand_track(struct u_system_devices *usysd,
enum t_hand_tracking_algorithm ht_algorithm = old_rgb ? HT_ALGORITHM_OLD_RGB : HT_ALGORITHM_MERCURY;
struct xrt_device *ht_device = NULL;
int create_status = ht_device_create(&usysd->xfctx, //
stereo_calib, //
HT_OUTPUT_SPACE_LEFT_CAMERA, //
ht_algorithm, //
info, //
&sinks, //
int create_status = ht_device_create(&usysd->xfctx, //
stereo_calib, //
ht_algorithm, //
info, //
&sinks, //
&ht_device);
if (create_status != 0) {
LH_WARN("Failed to create hand tracking device\n");

1
src/xrt/tracking/hand/mercury/hg_interface.h
View file

@ -23,7 +23,6 @@ extern "C" {
*/
struct t_hand_tracking_sync *
t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib,
enum t_hand_tracking_output_space output_space,
struct t_image_boundary_info boundary_info);
#ifdef __cplusplus

85
src/xrt/tracking/hand/mercury/hg_sync.cpp
View file

@ -34,83 +34,6 @@ static const enum xrt_space_relation_flags valid_flags_ht = (enum xrt_space_rela
* Setup helper functions.
*/
//!@todo
// This is cruft, necessary because some users still use HT_OUTPUT_SPACE_CENTER_OF_STEREO_CAMERA.
// WMR especially should *not* be using it, and for custom North Star/
static void
get_left_camera_to_center(struct HandTracking *hgt, xrt::auxiliary::tracking::StereoCameraCalibrationWrapper &wrap)
{
cv::Matx33d R1;
cv::Matx33d R2;
cv::Matx34d P1;
cv::Matx34d P2;
cv::Matx44d Q;
// We only want R1 and R2, we don't care about anything else
if (hgt->use_fisheye) {
cv::fisheye::stereoRectify(wrap.view[0].intrinsics_mat, // cameraMatrix1
wrap.view[0].distortion_fisheye_mat, // distCoeffs1
wrap.view[1].intrinsics_mat, // cameraMatrix2
wrap.view[1].distortion_fisheye_mat, // distCoeffs2
wrap.view[0].image_size_pixels_cv, // imageSize*
wrap.camera_rotation_mat, // R
wrap.camera_translation_mat, // T
hgt->views[0].rotate_camera_to_stereo_camera, // R1
hgt->views[1].rotate_camera_to_stereo_camera, // R2
P1, // P1
P2, // P2
Q, // Q
0, // flags
cv::Size()); // newImageSize
} else {
cv::stereoRectify(wrap.view[0].intrinsics_mat, // cameraMatrix1
wrap.view[0].distortion_mat, // distCoeffs1
wrap.view[1].intrinsics_mat, // cameraMatrix2
wrap.view[1].distortion_mat, // distCoeffs2
wrap.view[0].image_size_pixels_cv, // imageSize*
wrap.camera_rotation_mat, // R
wrap.camera_translation_mat, // T
hgt->views[0].rotate_camera_to_stereo_camera, // R1
hgt->views[1].rotate_camera_to_stereo_camera, // R2
P1, // P1
P2, // P2
Q, // Q
0, // flags
-1.0f, // alpha
cv::Size(), // newImageSize
NULL, // validPixROI1
NULL); // validPixROI2
}
// HG_DEBUG(hgt, "R%d ->", i);
// std::cout << hgt->views[i].rotate_camera_to_stereo_camera << std::endl;
// Untested, so far.
//!@todo Definitely this or getCalibration are doing a transpose and I don't know which.
cv::Matx33d rotate_stereo_camera_to_left_camera = hgt->views[0].rotate_camera_to_stereo_camera.inv();
xrt_matrix_3x3 s;
s.v[0] = rotate_stereo_camera_to_left_camera(0, 0);
s.v[1] = rotate_stereo_camera_to_left_camera(0, 1);
s.v[2] = rotate_stereo_camera_to_left_camera(0, 2);
s.v[3] = rotate_stereo_camera_to_left_camera(1, 0);
s.v[4] = rotate_stereo_camera_to_left_camera(1, 1);
s.v[5] = rotate_stereo_camera_to_left_camera(1, 2);
s.v[6] = rotate_stereo_camera_to_left_camera(2, 0);
s.v[7] = rotate_stereo_camera_to_left_camera(2, 1);
s.v[8] = rotate_stereo_camera_to_left_camera(2, 2);
math_quat_from_matrix_3x3(&s, &hgt->hand_pose_camera_offset.orientation);
hgt->hand_pose_camera_offset.position.x = -hgt->baseline / 2;
}
static bool
getCalibration(struct HandTracking *hgt, t_stereo_camera_calibration *calibration)
{
@ -195,10 +118,7 @@ getCalibration(struct HandTracking *hgt, t_stereo_camera_calibration *calibratio
hgt->last_frame_one_view_size_px = hgt->calibration_one_view_size_px;
hgt->multiply_px_coord_for_undistort = 1.0f;
switch (hgt->output_space) {
case HT_OUTPUT_SPACE_LEFT_CAMERA: hgt->hand_pose_camera_offset = XRT_POSE_IDENTITY; break;
case HT_OUTPUT_SPACE_CENTER_OF_STEREO_CAMERA: get_left_camera_to_center(hgt, wrap); break;
}
hgt->hand_pose_camera_offset = XRT_POSE_IDENTITY;
@ -1025,7 +945,6 @@ 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 t_hand_tracking_output_space output_space,
struct t_image_boundary_info boundary_info)
{
XRT_TRACE_MARKER();
@ -1036,8 +955,6 @@ t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib,
hgt->log_level = xrt::tracking::hand::mercury::debug_get_log_option_mercury_log();
bool use_simdr = xrt::tracking::hand::mercury::debug_get_bool_option_mercury_use_simdr_keypoint();
hgt->output_space = output_space;
/*
* Get configuration
*/

2
src/xrt/tracking/hand/mercury/hg_sync.hpp
View file

@ -187,8 +187,6 @@ public:
bool use_fisheye;
enum t_hand_tracking_output_space output_space;
struct t_stereo_camera_calibration *calib;
struct xrt_size calibration_one_view_size_px = {};