The open source OpenXR runtime
d/{rift_s,vive,ns}: Share hand bounding box with head tracker
authored by
Mateo de Mayo
and committed by
Simon Zeni
6afed4dc
eadc592c
+21
-16
+4
-3
src/xrt/drivers/rift_s/rift_s_tracker.c
+4
-3
src/xrt/drivers/rift_s/rift_s_tracker.c
···
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static int
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rift_s_create_hand_tracker(struct rift_s_tracker *t,
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struct xrt_frame_context *xfctx,
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struct xrt_hand_masks_sink *masks_sink,
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struct xrt_slam_sinks **out_sinks,
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struct xrt_device **out_device)
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{
···
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extra_camera_info.views[0].camera_orientation = CAMERA_ORIENTATION_90;
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extra_camera_info.views[1].camera_orientation = CAMERA_ORIENTATION_90;
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// TODO@mateosss: Use proper masks_sink in all drivers and not null
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struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = NULL};
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struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = masks_sink};
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int create_status = ht_device_create(xfctx, //
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t->stereo_calib, //
···
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// Initialize hand tracker
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struct xrt_slam_sinks *hand_sinks = NULL;
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struct xrt_device *hand_device = NULL;
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struct xrt_hand_masks_sink *masks_sink = slam_sinks->hand_masks;
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if (t->tracking.hand_enabled) {
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int hand_status = rift_s_create_hand_tracker(t, xfctx, &hand_sinks, &hand_device);
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int hand_status = rift_s_create_hand_tracker(t, xfctx, masks_sink, &hand_sinks, &hand_device);
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if (hand_status != 0 || hand_sinks == NULL || hand_device == NULL) {
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RIFT_S_WARN("Unable to setup the hand tracker");
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rift_s_tracker_destroy(t);
+4
-1
src/xrt/targets/common/target_builder_lighthouse.c
+4
-1
src/xrt/targets/common/target_builder_lighthouse.c
···
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struct xrt_frame_context *xfctx,
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struct xrt_pose head_in_left_cam,
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struct t_stereo_camera_calibration *stereo_calib,
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struct xrt_hand_masks_sink *masks_sink,
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struct xrt_slam_sinks **out_sinks,
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struct xrt_device **out_devices)
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{
···
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info.views[0].boundary.circle.normalized_radius = 0.55;
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info.views[1].boundary.circle.normalized_radius = 0.55;
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struct t_hand_tracking_create_info create_info = {.cams_info = info, .masks_sink = NULL};
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struct t_hand_tracking_create_info create_info = {.cams_info = info, .masks_sink = masks_sink};
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struct xrt_device *ht_device = NULL;
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int create_status = ht_device_create( //
···
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// Initialize hand tracker
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struct xrt_slam_sinks *hand_sinks = NULL;
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struct xrt_device *hand_devices[2] = {NULL};
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struct xrt_hand_masks_sink *masks_sink = slam_sinks->hand_masks;
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if (hand_enabled) {
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bool success = valve_index_hand_track( //
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lhs, //
···
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xfctx, //
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head_in_left_cam, //
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stereo_calib, //
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masks_sink, //
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&hand_sinks, //
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hand_devices); //
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if (!success) {
+13
-12
src/xrt/targets/common/target_builder_north_star.c
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-12
src/xrt/targets/common/target_builder_north_star.c
···
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depthai_fs_get_stereo_calibration(the_fs, &calib);
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struct xrt_slam_sinks *slam_sinks = NULL;
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xret = twrap_slam_create_device(xfctx, XRT_DEVICE_DEPTHAI, &slam_sinks, out_head_device);
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if (xret != XRT_SUCCESS) {
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U_LOG_E("twrap_slam_create_device: %u", xret);
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return xret;
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}
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if (slam_sinks == NULL) {
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U_LOG_E("twrap_slam_create_device: Returned NULL slam_sinks!");
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return XRT_ERROR_DEVICE_CREATION_FAILED;
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}
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#ifdef XRT_BUILD_DRIVER_HANDTRACKING
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struct xrt_slam_sinks *hand_sinks = NULL;
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struct xrt_hand_masks_sink *masks_sink = slam_sinks->hand_masks;
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struct t_camera_extra_info extra_camera_info = {0};
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···
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extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
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extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
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struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = NULL};
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struct t_hand_tracking_create_info create_info = {.cams_info = extra_camera_info, .masks_sink = masks_sink};
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int create_status = ht_device_create( //
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xfctx, //
···
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return XRT_ERROR_DEVICE_CREATION_FAILED;
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}
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#endif
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struct xrt_slam_sinks *slam_sinks = NULL;
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xret = twrap_slam_create_device(xfctx, XRT_DEVICE_DEPTHAI, &slam_sinks, out_head_device);
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if (xret != XRT_SUCCESS) {
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U_LOG_E("twrap_slam_create_device: %u", xret);
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return xret;
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}
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if (slam_sinks == NULL) {
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U_LOG_E("twrap_slam_create_device: Returned NULL slam_sinks!");
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return XRT_ERROR_DEVICE_CREATION_FAILED;
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}
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struct xrt_slam_sinks entry_sinks = {0};
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struct xrt_frame_sink *entry_left_sink = NULL;