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d/ht: Fix rotation/flipping of right hands

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When dealing with rotated cameras, rotate them backward
to vertical, and then flip the right hand image in
the affine transform to get correct orientation of hands
for the keypoint estimator. Before, the left hand images
were being fed in upside down.
This commit is contained in:
Jan Schmidt 2022-10-07 06:10:00 +11:00 committed by Moses Turner
parent 9077261ada
commit fc3fbd6093
1 changed files with 27 additions and 20 deletions
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47
src/xrt/tracking/hand/mercury/hg_model.cpp
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@ -637,16 +637,17 @@ calc_src_tri(cv::Point2f center,
out_src_tri[2] = top_right; //{center - go_down + go_right};
} break;
case CAMERA_ORIENTATION_90: {
// Need to rotate the view back by -90°
// top left (becomes top right)
out_src_tri[0] = top_right;
// top left (becomes bottom left)
out_src_tri[0] = bottom_left; //{center + go_down - go_right};
// bottom left (becomes top left)
out_src_tri[1] = top_left;
// 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};
// top right (becomes bottom right)
out_src_tri[2] = bottom_right;
} break;
case CAMERA_ORIENTATION_180: {
// top left (becomes bottom right)
out_src_tri[0] = bottom_right;
@ -658,14 +659,15 @@ calc_src_tri(cv::Point2f center,
out_src_tri[2] = bottom_left;
} break;
case CAMERA_ORIENTATION_270: {
// top left (becomes top right)
out_src_tri[0] = top_right;
// Need to rotate the view clockwise 90°
// top left (becomes bottom left)
out_src_tri[0] = bottom_left; //{center + go_down - go_right};
// bottom left (becomes top left)
out_src_tri[1] = top_left;
// bottom left (becomes bottom right)
out_src_tri[1] = bottom_right; //{center + go_down + go_right};
// top right (becomes bottom right)
out_src_tri[2] = bottom_right;
// top right (becomes top left)
out_src_tri[2] = top_left; //{center - go_down - go_right};
} break;
default: assert(false);
}
@ -713,15 +715,20 @@ run_keypoint_estimation_new(void *ptr)
cv::Point2f go_right = {output->size_px / 2, 0};
cv::Point2f go_down = {0, output->size_px / 2};
if (info->hand_idx == 1) {
go_right *= -1;
}
calc_src_tri(center, go_right, go_down, info->view->camera_info.camera_orientation, src_tri);
dst_tri[0] = {0, 0};
dst_tri[1] = {0, 128};
dst_tri[2] = {128, 0};
/* For the right hand, flip the result horizontally since
* the model is trained on left hands.
* Top left, bottom left, top right */
if (info->hand_idx == 1) {
dst_tri[0] = {128, 0};
dst_tri[1] = {128, 128};
dst_tri[2] = {0, 0};
} else {
dst_tri[0] = {0, 0};
dst_tri[1] = {0, 128};
dst_tri[2] = {128, 0};
}
cv::Matx23f go_there = getAffineTransform(src_tri, dst_tri);
cv::Matx23f go_back = getAffineTransform(dst_tri, src_tri);