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t/slam: Push hand masks to tracker

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Mateo de Mayo 2024-01-23 17:19:28 -03:00 committed by Simon Zeni
parent e79d2d395f
commit eadc592c04
4 changed files with 36 additions and 17 deletions
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27
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
View file

@ -1380,20 +1380,29 @@ receive_frame(TrackerSlam &t, struct xrt_frame *frame, uint32_t cam_index)
default: SLAM_ERROR("Unknown image format"); return;
}
xrt_hand_masks_sample hand_masks{};
{
unique_lock lock(t.last_hand_masks_mutex);
for (auto &view : t.last_hand_masks.views) {
if (!view.enabled) {
hand_masks = t.last_hand_masks;
}
auto &view = hand_masks.views[cam_index];
std::vector<vit_mask_t> masks;
if (view.enabled) {
for (auto &hand : view.hands) {
if (!hand.enabled) {
continue;
}
vit_mask_t mask{};
mask.x = hand.rect.x;
mask.y = hand.rect.y;
mask.w = hand.rect.w;
mask.h = hand.rect.h;
masks.push_back(mask);
}
for (auto &hand : view.hands) {
if (!hand.enabled) {
continue;
}
// TODO@mateosss: add_mask(hand.rect);
}
};
sample.mask_count = masks.size();
sample.masks = masks.empty() ? nullptr : masks.data();
}
{

12
src/xrt/include/xrt/xrt_defines.h
View file

@ -391,6 +391,18 @@ struct xrt_rect
struct xrt_size extent;
};
/*!
* Image rectangle
*
* @todo Unify xrt_rect and xrt_rect_f32 field names
*
* @ingroup xrt_iface math
*/
struct xrt_rect_f32
{
float x, y, w, h;
};
/*!
* Normalized image rectangle, coordinates and size in 0 .. 1 range.
*

4
src/xrt/include/xrt/xrt_tracking.h
View file

@ -149,8 +149,8 @@ struct xrt_hand_masks_sample
bool enabled; //!< Whether any hand mask for this camera is being reported
struct xrt_hand_masks_sample_hand
{
bool enabled; //!< Whether a mask for this hand is being reported
struct xrt_rect rect; //!< The mask itself in pixel coordinates
bool enabled; //!< Whether a mask for this hand is being reported
struct xrt_rect_f32 rect; //!< The mask itself in pixel coordinates
} hands[2];
} views[XRT_TRACKING_MAX_SLAM_CAMS];
};

10
src/xrt/tracking/hand/mercury/hg_sync.cpp
View file

@ -572,12 +572,10 @@ predict_new_regions_of_interest(struct HandTracking *hgt)
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);
const float SCALER = 1.25f;
float s = hroi.size_px * SCALER;
xrt_vec2 &c = hroi.center_px;
masks_hand.rect = xrt_rect_f32{c.x - s / 2, c.y - s / 2, s, s};
masks_hand.enabled = true;
} else {
hroi.found = false;