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u/hand_tracking: Tweak hand model parameters

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* shortened way too long bones
* tweaked offset positions
This commit is contained in:
Christoph Haag 2020-11-19 15:55:57 +01:00 committed by Jakob Bornecrantz
parent 006971ae7a
commit f7cbe37c2d
1 changed files with 58 additions and 55 deletions

113
src/xrt/auxiliary/util/u_hand_tracking.c
View file

@ -62,51 +62,54 @@ struct u_joint_curl_model
*/
static struct u_joint_curl_model
hand_joint_default_set_curl_model_defaults[XRT_HAND_JOINT_COUNT] = {
// special cases: wrist and palm without bone lengths
// special cases: wrist and palm without bone lengths, offsets are
// absolute, relative to hand origin (palm)
[XRT_HAND_JOINT_PALM] = {.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0,
.radius = 0.015,
.radius = 0.018,
.joint_id = XRT_HAND_JOINT_PALM},
[XRT_HAND_JOINT_WRIST] = {.position_offset = {.x = 0,
.y = 0,
.z = 0.15},
.z = 0.07},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0,
.radius = 0.015,
.radius = 0.03,
.joint_id = XRT_HAND_JOINT_WRIST},
// fingers
// metacarpal bones are angled outwards a little,
// proximal bones copmpensate most of it, making fingers parallel again
// finger position offsets are relative to previous bone
// previous bone of metacarpal: wrist
[XRT_HAND_JOINT_LITTLE_METACARPAL] =
{.position_offset = {.x = -0.02, .y = 0, .z = -0.04},
.axis_angle_offset = {0, DEG_TO_RAD(-30), 0},
.bone_length = 0.09,
{.position_offset = {.x = -0.03, .y = 0, .z = -0.037},
.axis_angle_offset = {0, DEG_TO_RAD(-25), 0},
.bone_length = 0.048,
.radius = 0.015,
.joint_id = XRT_HAND_JOINT_LITTLE_METACARPAL},
[XRT_HAND_JOINT_LITTLE_PROXIMAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, DEG_TO_RAD(25), 0},
.bone_length = 0.04,
.radius = 0.015,
.axis_angle_offset = {0, DEG_TO_RAD(20), 0},
.bone_length = 0.037,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_LITTLE_PROXIMAL},
[XRT_HAND_JOINT_LITTLE_INTERMEDIATE] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.02,
.radius = 0.012,
.radius = 0.009,
.joint_id = XRT_HAND_JOINT_LITTLE_INTERMEDIATE},
[XRT_HAND_JOINT_LITTLE_DISTAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.02,
.radius = 0.012,
.radius = 0.009,
.joint_id = XRT_HAND_JOINT_LITTLE_DISTAL},
[XRT_HAND_JOINT_LITTLE_TIP] = {.position_offset = {.x = 0,
@ -119,140 +122,140 @@ static struct u_joint_curl_model
[XRT_HAND_JOINT_RING_METACARPAL] =
{.position_offset = {.x = -0.01, .y = 0, .z = -0.042},
.axis_angle_offset = {0, DEG_TO_RAD(-15), 0},
.bone_length = 0.1,
.radius = 0.0175,
{.position_offset = {.x = -0.015, .y = 0, .z = -0.038},
.axis_angle_offset = {0, DEG_TO_RAD(-12), 0},
.bone_length = 0.052,
.radius = 0.015,
.joint_id = XRT_HAND_JOINT_RING_METACARPAL},
[XRT_HAND_JOINT_RING_PROXIMAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, DEG_TO_RAD(12), 0},
.bone_length = 0.045,
.radius = 0.0175,
.axis_angle_offset = {0, DEG_TO_RAD(10), 0},
.bone_length = 0.047,
.radius = 0.012,
.joint_id = XRT_HAND_JOINT_RING_PROXIMAL},
[XRT_HAND_JOINT_RING_INTERMEDIATE] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.03,
.radius = 0.0175,
.bone_length = 0.027,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_RING_INTERMEDIATE},
[XRT_HAND_JOINT_RING_DISTAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.025,
.radius = 0.0175,
.bone_length = 0.017,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_RING_DISTAL},
[XRT_HAND_JOINT_RING_TIP] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0,
.radius = 0.0175,
.radius = 0.012,
.joint_id = XRT_HAND_JOINT_RING_TIP},
[XRT_HAND_JOINT_MIDDLE_METACARPAL] =
{.position_offset = {.x = 0, .y = 0, .z = -0.044},
{.position_offset = {.x = 0.00, .y = 0, .z = -0.039},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.11,
.radius = 0.0175,
.bone_length = 0.055,
.radius = 0.012,
.joint_id = XRT_HAND_JOINT_MIDDLE_METACARPAL},
[XRT_HAND_JOINT_MIDDLE_PROXIMAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.045,
.radius = 0.0175,
.bone_length = 0.05,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_MIDDLE_PROXIMAL},
[XRT_HAND_JOINT_MIDDLE_INTERMEDIATE] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.03,
.radius = 0.0175,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_MIDDLE_INTERMEDIATE},
[XRT_HAND_JOINT_MIDDLE_DISTAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.025,
.radius = 0.0175,
.bone_length = 0.02,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_MIDDLE_DISTAL},
[XRT_HAND_JOINT_MIDDLE_TIP] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0,
.radius = 0.0175,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_MIDDLE_TIP},
[XRT_HAND_JOINT_INDEX_METACARPAL] =
{.position_offset = {.x = 0.01, .y = 0, .z = -0.042},
.axis_angle_offset = {0, DEG_TO_RAD(15), 0},
.bone_length = 0.1,
.radius = 0.0175,
{.position_offset = {.x = 0.015, .y = 0, .z = -0.038},
.axis_angle_offset = {0, DEG_TO_RAD(12), 0},
.bone_length = 0.05,
.radius = 0.012,
.joint_id = XRT_HAND_JOINT_INDEX_METACARPAL},
[XRT_HAND_JOINT_INDEX_PROXIMAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, DEG_TO_RAD(-12), 0},
.bone_length = 0.045,
.radius = 0.0175,
.axis_angle_offset = {0, DEG_TO_RAD(-10), 0},
.bone_length = 0.048,
.radius = 0.011,
.joint_id = XRT_HAND_JOINT_INDEX_PROXIMAL},
[XRT_HAND_JOINT_INDEX_INTERMEDIATE] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.03,
.radius = 0.0175,
.bone_length = 0.021,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_INDEX_INTERMEDIATE},
[XRT_HAND_JOINT_INDEX_DISTAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.025,
.radius = 0.0175,
.bone_length = 0.021,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_INDEX_DISTAL},
[XRT_HAND_JOINT_INDEX_TIP] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0,
.radius = 0.0175,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_INDEX_TIP},
[XRT_HAND_JOINT_THUMB_METACARPAL] =
{.position_offset = {.x = 0.02, .y = 0, .z = -0.038},
.axis_angle_offset = {0, DEG_TO_RAD(45), 0},
.bone_length = 0.08,
.radius = 0.02,
{.position_offset = {.x = 0.03, .y = 0, .z = -0.033},
.axis_angle_offset = {0, DEG_TO_RAD(40), 0},
.bone_length = 0.037,
.radius = 0.0175,
.joint_id = XRT_HAND_JOINT_THUMB_METACARPAL},
[XRT_HAND_JOINT_THUMB_PROXIMAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, DEG_TO_RAD(-10), 0},
.bone_length = 0.04,
.radius = 0.02,
.axis_angle_offset = {0, DEG_TO_RAD(-12), 0},
.bone_length = 0.038,
.radius = 0.017,
.joint_id = XRT_HAND_JOINT_THUMB_PROXIMAL},
// no intermediate
[XRT_HAND_JOINT_THUMB_DISTAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.03,
.radius = 0.02,
.bone_length = 0.026,
.radius = 0.017,
.joint_id = XRT_HAND_JOINT_THUMB_DISTAL},
[XRT_HAND_JOINT_THUMB_TIP] = {
.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0,
.radius = 0.02,
.radius = 0.016,
.joint_id = XRT_HAND_JOINT_THUMB_TIP}};
inline static void