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h/mercury: Push hand rect masks to the SLAM tracker sinks

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Mateo de Mayo 2024-01-23 14:12:41 -03:00 committed by Simon Zeni
parent 4cfe58a5e9
commit e79d2d395f
11 changed files with 69 additions and 17 deletions
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4
src/xrt/drivers/ht/ht_driver.c
View file

@ -234,7 +234,7 @@ 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,
struct t_camera_extra_info extra_camera_info,
struct t_hand_tracking_create_info create_info,
struct xrt_slam_sinks **out_sinks,
struct xrt_device **out_device)
{
@ -254,7 +254,7 @@ ht_device_create(struct xrt_frame_context *xfctx,
return -1;
}
sync = t_hand_tracking_sync_mercury_create(calib, extra_camera_info, path);
sync = t_hand_tracking_sync_mercury_create(calib, create_info, path);
struct ht_device *htd = ht_device_create_common(calib, false, xfctx, sync);

4
src/xrt/drivers/ht/ht_interface.h
View file

@ -16,6 +16,7 @@
#include "tracking/t_tracking.h"
#include "tracking/t_hand_tracking.h"
#include "xrt/xrt_prober.h"
#include "xrt/xrt_tracking.h"
#ifdef __cplusplus
@ -36,6 +37,7 @@ extern "C" {
*
* @param xfctx Frame context to attach the tracker to
* @param calib Calibration struct for stereo camera
* @param create_info Additional creation options
* @param out_sinks Sinks to stream camera data to
* @param out_device Newly created hand tracker "device"
* @return int 0 on success
@ -43,7 +45,7 @@ extern "C" {
int
ht_device_create(struct xrt_frame_context *xfctx,
struct t_stereo_camera_calibration *calib,
struct t_camera_extra_info extra_camera_info,
struct t_hand_tracking_create_info create_info,
struct xrt_slam_sinks **out_sinks,
struct xrt_device **out_device);

7
src/xrt/drivers/rift_s/rift_s_tracker.c
View file

@ -252,10 +252,13 @@ rift_s_create_hand_tracker(struct rift_s_tracker *t,
extra_camera_info.views[0].camera_orientation = CAMERA_ORIENTATION_90;
extra_camera_info.views[1].camera_orientation = CAMERA_ORIENTATION_90;
// TODO@mateosss: Use proper masks_sink in all drivers and not null
struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = NULL};
int create_status = ht_device_create(xfctx, //
t->stereo_calib, //
extra_camera_info,
&sinks, //
create_info, //
&sinks, //
&device);
if (create_status != 0) {
return create_status;

9
src/xrt/drivers/wmr/wmr_hmd.c
View file

@ -1651,6 +1651,7 @@ wmr_hmd_guess_camera_orientation(struct wmr_hmd *wh)
static int
wmr_hmd_hand_track(struct wmr_hmd *wh,
struct t_stereo_camera_calibration *stereo_calib,
struct xrt_hand_masks_sink *masks_sink,
struct xrt_slam_sinks **out_sinks,
struct xrt_device **out_device)
{
@ -1674,12 +1675,15 @@ wmr_hmd_hand_track(struct wmr_hmd *wh,
//!@todo Turning it off is okay for now, but we should plug metric_radius (or whatever it's called) in, at some
//! point.
// TODO@mateosss: do it now
extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = masks_sink};
int create_status = ht_device_create(&wh->tracking.xfctx, //
stereo_calib, //
extra_camera_info, //
create_info, //
&sinks, //
&device);
if (create_status != 0) {
@ -1819,8 +1823,9 @@ wmr_hmd_setup_trackers(struct wmr_hmd *wh, struct xrt_slam_sinks *out_sinks, str
// Initialize hand tracker
struct xrt_slam_sinks *hand_sinks = NULL;
struct xrt_device *hand_device = NULL;
struct xrt_hand_masks_sink *masks_sink = slam_sinks->hand_masks;
if (wh->tracking.hand_enabled) {
int hand_status = wmr_hmd_hand_track(wh, stereo_calib, &hand_sinks, &hand_device);
int hand_status = wmr_hmd_hand_track(wh, stereo_calib, masks_sink, &hand_sinks, &hand_device);
if (hand_status != 0 || hand_sinks == NULL || hand_device == NULL) {
WMR_WARN(wh, "Unable to setup the hand tracker");
return false;

9
src/xrt/include/tracking/t_hand_tracking.h
View file

@ -104,6 +104,15 @@ struct t_camera_extra_info
struct t_camera_extra_info_one_view views[2];
};
/*!
* Creation info for the creation of a hand tracker
*/
struct t_hand_tracking_create_info
{
struct t_camera_extra_info cams_info; //!< Extra camera info
struct xrt_hand_masks_sink *masks_sink; //!< Optional sink to stream hand bounding boxes to
};
/*!
* Synchronously processes frames and returns two hands.
*/

4
src/xrt/state_trackers/gui/gui_scene_hand_tracking_demo.c
View file

@ -77,10 +77,12 @@ gui_scene_hand_tracking_demo(struct gui_program *p)
extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
extra_camera_info.views[1].camera_orientation = CAMERA_ORIENTATION_0;
struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = NULL};
int create_status = ht_device_create( //
&usysd->xfctx, //
calib, //
extra_camera_info, //
create_info, //
&hand_sinks, //
&ht_dev); //
t_stereo_camera_calibration_reference(&calib, NULL);

4
src/xrt/targets/common/target_builder_lighthouse.c
View file

@ -233,11 +233,13 @@ valve_index_hand_track(struct lighthouse_system *lhs,
info.views[0].boundary.circle.normalized_radius = 0.55;
info.views[1].boundary.circle.normalized_radius = 0.55;
struct t_hand_tracking_create_info create_info = {.cams_info = info, .masks_sink = NULL};
struct xrt_device *ht_device = NULL;
int create_status = ht_device_create( //
xfctx, //
stereo_calib, //
info, //
create_info, //
&sinks, //
&ht_device);
if (create_status != 0) {

4
src/xrt/targets/common/target_builder_north_star.c
View file

@ -311,10 +311,12 @@ ns_setup_depthai_device(struct ns_builder *nsb,
extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = NULL};
int create_status = ht_device_create( //
xfctx, //
calib, //
extra_camera_info, //
create_info, //
&hand_sinks, //
out_hand_device); //
t_stereo_camera_calibration_reference(&calib, NULL);

2
src/xrt/tracking/hand/mercury/hg_interface.h
View file

@ -23,7 +23,7 @@ extern "C" {
*/
struct t_hand_tracking_sync *
t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib,
struct t_camera_extra_info extra_camera_info,
struct t_hand_tracking_create_info create_info,
const char *models_folder);
#ifdef __cplusplus

37
src/xrt/tracking/hand/mercury/hg_sync.cpp
View file

@ -11,11 +11,14 @@
#include "hg_sync.hpp"
#include "hg_image_math.inl"
#include "tracking/t_hand_tracking.h"
#include "util/u_box_iou.hpp"
#include "util/u_hand_tracking.h"
#include "math/m_vec2.h"
#include "util/u_misc.h"
#include "xrt/xrt_defines.h"
#include "xrt/xrt_frame.h"
#include "xrt/xrt_tracking.h"
#include <numeric>
@ -509,6 +512,8 @@ void
predict_new_regions_of_interest(struct HandTracking *hgt)
{
xrt_hand_masks_sample masks{}; // Zero initialization
for (int hand_idx = 0; hand_idx < 2; hand_idx++) {
// If we don't have the past two frames, this code doesn't do what we want.
// If we only have *one* frame, we just reuse the same bounding box and hope the hand
@ -557,16 +562,33 @@ predict_new_regions_of_interest(struct HandTracking *hgt)
num_outside);
for (int view_idx = 0; view_idx < 2; view_idx++) {
if (num_outside[view_idx] < hgt->tuneable_values.max_num_outside_view) {
hgt->views[view_idx].regions_of_interest_this_frame[hand_idx].provenance =
ROIProvenance::POSE_PREDICTION;
hgt->views[view_idx].regions_of_interest_this_frame[hand_idx].found = true;
hand_region_of_interest &hroi = hgt->views[view_idx].regions_of_interest_this_frame[hand_idx];
auto &masks_view = masks.views[view_idx];
auto &masks_hand = masks_view.hands[hand_idx];
masks_view.enabled = true;
if (num_outside[view_idx] < hgt->tuneable_values.max_num_outside_view) {
hroi.provenance = ROIProvenance::POSE_PREDICTION;
hroi.found = true;
xrt_vec2 &center = hroi.center_px;
float &size = hroi.size_px;
masks_hand.rect.offset.w = int(center.x - size / 2);
masks_hand.rect.offset.h = int(center.y - size / 2);
masks_hand.rect.extent.w = int(size);
masks_hand.rect.extent.h = int(size);
masks_hand.enabled = true;
} else {
hgt->views[view_idx].regions_of_interest_this_frame[hand_idx].found = false;
hroi.found = false;
masks_hand.enabled = false;
}
}
}
if (hgt->hand_masks_sink != NULL) {
xrt_sink_push_hand_masks(hgt->hand_masks_sink, &masks);
}
}
//!@todo This looks like it sucks, but it doesn't given the current architecture.
@ -1070,7 +1092,7 @@ using namespace xrt::tracking::hand::mercury;
extern "C" t_hand_tracking_sync *
t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib,
struct t_camera_extra_info extra_camera_info,
struct t_hand_tracking_create_info create_info,
const char *models_folder)
{
XRT_TRACE_MARKER();
@ -1095,6 +1117,9 @@ t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib,
hgt->views[0].hgt = hgt;
hgt->views[1].hgt = hgt; // :)
hgt->hand_masks_sink = create_info.masks_sink;
struct t_camera_extra_info &extra_camera_info = create_info.cams_info;
hgt->views[0].camera_info = extra_camera_info.views[0];
hgt->views[1].camera_info = extra_camera_info.views[1];

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

@ -18,6 +18,7 @@
#include "xrt/xrt_defines.h"
#include "xrt/xrt_frame.h"
#include "xrt/xrt_tracking.h"
#include "math/m_api.h"
#include "math/m_vec2.h"
@ -253,6 +254,7 @@ public:
struct u_sink_debug debug_sink_ann = {};
struct u_sink_debug debug_sink_model = {};
struct xrt_hand_masks_sink *hand_masks_sink;
float multiply_px_coord_for_undistort;