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h/mercury: Use camera orientation for keypoint model input

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This commit is contained in:
Moses Turner 2022-09-14 20:21:43 -05:00
parent 0fedf6fe7d
commit e95d21586f
1 changed files with 61 additions and 7 deletions
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68
src/xrt/tracking/hand/mercury/hg_model.cpp
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@ -584,7 +584,67 @@ init_keypoint_estimation_new(HandTracking *hgt, onnx_wrap *wrap)
wrap->api->ReleaseSessionOptions(opts); wrap->api->ReleaseSessionOptions(opts);
} }
void
calc_src_tri(cv::Point2f center,
cv::Point2f go_right,
cv::Point2f go_down,
enum t_camera_orientation rot,
cv::Point2f out_src_tri[3])
{
// cv::Point2f go_right = {size_px / 2, 0};
// cv::Point2f go_down = {0, size_px / 2};
cv::Point2f top_left = {center - go_down - go_right};
cv::Point2f bottom_left = {center + go_down - go_right};
cv::Point2f bottom_right = {center + go_down + go_right};
cv::Point2f top_right = {center - go_down + go_right};
switch (rot) {
case CAMERA_ORIENTATION_0: {
// top left
out_src_tri[0] = top_left; // {center - go_down - go_right};
// bottom left
out_src_tri[1] = bottom_left; //{center + go_down - go_right};
// top right
out_src_tri[2] = top_right; //{center - go_down + go_right};
} break;
case CAMERA_ORIENTATION_90: {
// top left (becomes bottom left)
out_src_tri[0] = bottom_left; //{center + go_down - go_right};
// bottom left (becomes bottom right)
out_src_tri[1] = bottom_right; //{center + go_down + go_right};
// top right (becomes top left)
out_src_tri[2] = top_left; //{center - go_down - go_right};
} break;
case CAMERA_ORIENTATION_180: {
// top left (becomes bottom right)
out_src_tri[0] = bottom_left;
// bottom left (becomes top right)
out_src_tri[1] = top_right;
// top right (becomes bottom left)
out_src_tri[2] = bottom_left;
} break;
case CAMERA_ORIENTATION_270: {
// top left (becomes top right)
out_src_tri[0] = top_right;
// bottom left (becomes top left)
out_src_tri[1] = top_left;
// top right (becomes bottom right)
out_src_tri[2] = bottom_right;
}
default: assert(false);
}
}
void void
run_keypoint_estimation_new(void *ptr) run_keypoint_estimation_new(void *ptr)
@ -612,14 +672,8 @@ run_keypoint_estimation_new(void *ptr)
if (info->hand_idx == 1) { if (info->hand_idx == 1) {
go_right *= -1; go_right *= -1;
} }
// top left
src_tri[0] = {center - go_down - go_right};
// bottom left calc_src_tri(center, go_right, go_down, info->view->camera_info.camera_orientation, src_tri);
src_tri[1] = {center + go_down - go_right};
// top right
src_tri[2] = {center - go_down + go_right};
dst_tri[0] = {0, 0}; dst_tri[0] = {0, 0};
dst_tri[1] = {0, 128}; dst_tri[1] = {0, 128};