The open source OpenXR runtime
d/ht: Tidy view creation
+28
-13
+28
-13
src/xrt/drivers/ht/ht_algorithm.hpp
+28
-13
src/xrt/drivers/ht/ht_algorithm.hpp
···
290
290
291
291
htd->current_frame_timestamp = htd->frame_for_process->timestamp;
292
292
293
-
294
293
int64_t start, end;
295
294
start = os_monotonic_get_ns();
296
295
297
296
297
+
/*
298
+
* Setup views.
299
+
*/
298
300
299
-
cv::Mat full_frame(960, 960 * 2, CV_8UC3, htd->frame_for_process->data, htd->frame_for_process->stride);
300
-
htd->views[0].run_model_on_this =
301
-
full_frame(cv::Rect(0, 0, htd->camera.one_view_size_px.w, htd->camera.one_view_size_px.h));
302
-
htd->views[1].run_model_on_this = full_frame(cv::Rect(
303
-
htd->camera.one_view_size_px.w, 0, htd->camera.one_view_size_px.w, htd->camera.one_view_size_px.h));
301
+
const int full_width = htd->frame_for_process->width;
302
+
const int full_height = htd->frame_for_process->height;
303
+
const int view_width = htd->camera.one_view_size_px.w;
304
+
const int view_height = htd->camera.one_view_size_px.h;
305
+
306
+
assert(full_width == view_width * 2);
307
+
assert(full_height == view_height);
308
+
309
+
const cv::Size full_size = cv::Size(full_width, full_height);
310
+
const cv::Size view_size = cv::Size(view_width, view_height);
311
+
const cv::Point view_offsets[2] = {cv::Point(0, 0), cv::Point(view_width, 0)};
312
+
313
+
cv::Mat full_frame(full_size, CV_8UC3, htd->frame_for_process->data, htd->frame_for_process->stride);
314
+
htd->views[0].run_model_on_this = full_frame(cv::Rect(view_offsets[0], view_size));
315
+
htd->views[1].run_model_on_this = full_frame(cv::Rect(view_offsets[1], view_size));
304
316
305
317
// Check this every frame. We really, really, really don't want it to ever suddenly be null.
306
318
htd->debug_scribble = htd->debug_sink != nullptr;
307
319
308
-
cv::Mat debug_output;
320
+
cv::Mat debug_output = {};
309
321
xrt_frame *debug_frame = nullptr; // only use if htd->debug_scribble
310
322
311
-
312
323
if (htd->debug_scribble) {
313
324
u_frame_clone(htd->frame_for_process, &debug_frame);
314
-
debug_output = cv::Mat(960, 960 * 2, CV_8UC3, debug_frame->data, debug_frame->stride);
315
-
htd->views[0].debug_out_to_this =
316
-
debug_output(cv::Rect(0, 0, htd->camera.one_view_size_px.w, htd->camera.one_view_size_px.h));
317
-
htd->views[1].debug_out_to_this = debug_output(cv::Rect(
318
-
htd->camera.one_view_size_px.w, 0, htd->camera.one_view_size_px.w, htd->camera.one_view_size_px.h));
325
+
debug_output = cv::Mat(full_size, CV_8UC3, debug_frame->data, debug_frame->stride);
326
+
htd->views[0].debug_out_to_this = debug_output(cv::Rect(view_offsets[0], view_size));
327
+
htd->views[1].debug_out_to_this = debug_output(cv::Rect(view_offsets[1], view_size));
319
328
}
320
329
330
+
331
+
/*
332
+
* Do the hand tracking!
333
+
*/
334
+
321
335
std::future<std::vector<Hand2D>> future_left =
322
336
std::async(std::launch::async, htImageToKeypoints, &htd->views[0]);
323
337
std::future<std::vector<Hand2D>> future_right =
324
338
std::async(std::launch::async, htImageToKeypoints, &htd->views[1]);
325
339
std::vector<Hand2D> hands_in_left_view = future_left.get();
326
340
std::vector<Hand2D> hands_in_right_view = future_right.get();
341
+
327
342
end = os_monotonic_get_ns();
328
343
329
344