The open source OpenXR runtime
xrt: add hand_tracking_image_boundary_info
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-5
+27
-3
src/xrt/drivers/ht/ht_driver.c
+27
-3
src/xrt/drivers/ht/ht_driver.c
···
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if (use_old_rgb) {
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sync = t_hand_tracking_sync_old_rgb_create(calib);
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} else {
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-
sync = t_hand_tracking_sync_mercury_create(calib, HT_OUTPUT_SPACE_LEFT_CAMERA);
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struct hand_tracking_image_boundary_info info;
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info.views[0].type = HT_IMAGE_BOUNDARY_CIRCLE;
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info.views[1].type = HT_IMAGE_BOUNDARY_CIRCLE;
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//!@todo This changes by like 50ish pixels from device to device. For now, the solution is simple: just
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//! make the circle a bit bigger than we'd like.
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// Maybe later we can do vignette calibration? Write a tiny optimizer that tries to fit Index's
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// gradient? Unsure.
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info.views[0].boundary.circle.normalized_center.x = 0.5f;
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info.views[0].boundary.circle.normalized_center.y = 0.5f;
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info.views[1].boundary.circle.normalized_center.x = 0.5f;
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info.views[1].boundary.circle.normalized_center.y = 0.5f;
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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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sync = t_hand_tracking_sync_mercury_create(calib, HT_OUTPUT_SPACE_LEFT_CAMERA, info);
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}
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struct ht_device *htd = ht_device_create_common(calib, true, &finder.xfctx, sync);
···
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struct t_stereo_camera_calibration *calib,
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enum hand_tracking_output_space output_space,
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enum hand_tracking_algorithm algorithm_choice,
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struct hand_tracking_image_boundary_info boundary_info,
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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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XRT_TRACE_MARKER();
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assert(calib != NULL);
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struct t_hand_tracking_sync *sync = t_hand_tracking_sync_mercury_create(calib, output_space);
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struct t_hand_tracking_sync *sync = t_hand_tracking_sync_mercury_create(calib, output_space, boundary_info);
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struct ht_device *htd = ht_device_create_common(calib, false, xfctx, sync);
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···
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struct t_hand_tracking_sync *sync;
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sync = t_hand_tracking_sync_mercury_create(calib, HT_OUTPUT_SPACE_LEFT_CAMERA);
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struct hand_tracking_image_boundary_info info;
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info.views[0].type = HT_IMAGE_BOUNDARY_NONE;
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info.views[1].type = HT_IMAGE_BOUNDARY_NONE;
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sync = t_hand_tracking_sync_mercury_create(calib, HT_OUTPUT_SPACE_LEFT_CAMERA, info);
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struct ht_device *htd = ht_device_create_common(calib, true, &xfctx, sync);
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+1
src/xrt/drivers/ht/ht_interface.h
+1
src/xrt/drivers/ht/ht_interface.h
···
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struct t_stereo_camera_calibration *calib,
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enum hand_tracking_output_space output_space,
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enum hand_tracking_algorithm algorithm_choice,
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struct hand_tracking_image_boundary_info boundary_info,
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struct xrt_slam_sinks **out_sinks,
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struct xrt_device **out_device);
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+6
src/xrt/drivers/wmr/wmr_hmd.c
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src/xrt/drivers/wmr/wmr_hmd.c
···
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struct xrt_device *device = NULL;
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#ifdef XRT_BUILD_DRIVER_HANDTRACKING
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//!@todo Turning it off is okay for now, but we should plug metric_radius (or whatever it's called) in, at some
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//! point.
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struct hand_tracking_image_boundary_info boundary_info;
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boundary_info.views[0].type = HT_IMAGE_BOUNDARY_NONE;
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boundary_info.views[1].type = HT_IMAGE_BOUNDARY_NONE;
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int create_status = ht_device_create(&wh->tracking.xfctx, //
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stereo_calib, //
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HT_OUTPUT_SPACE_LEFT_CAMERA, //
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HT_ALGORITHM_MERCURY, //
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boundary_info, //
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&sinks, //
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&device);
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if (create_status != 0) {
+31
src/xrt/include/tracking/t_hand_tracking.h
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src/xrt/include/tracking/t_hand_tracking.h
···
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HT_ALGORITHM_OLD_RGB
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};
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enum hand_tracking_image_boundary_type
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{
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HT_IMAGE_BOUNDARY_NONE,
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HT_IMAGE_BOUNDARY_CIRCLE,
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};
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struct hand_tracking_image_boundary_circle
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{
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// The center, in normalized 0-1 UV coordinates.
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// Should probably be between 0 and 1 in pixel coordinates.
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struct xrt_vec2 normalized_center;
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// The radius, divided by the image width.
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// For Index, should be around 0.5.
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float normalized_radius;
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};
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struct hand_tracking_image_boundary_info_one_view
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{
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enum hand_tracking_image_boundary_type type;
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union {
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struct hand_tracking_image_boundary_circle circle;
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} boundary;
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};
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struct hand_tracking_image_boundary_info
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{
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//!@todo Hardcoded to 2 - needs to increase as we support headsets with more cameras.
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struct hand_tracking_image_boundary_info_one_view views[2];
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};
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/*!
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* Synchronously processes frames and returns two hands.
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*/
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-1
src/xrt/tracking/hand/mercury/hg_interface.h
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src/xrt/tracking/hand/mercury/hg_interface.h
···
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* @ingroup aux_tracking
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*/
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#pragma once
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#include "xrt/xrt_defines.h"
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#include "tracking/t_tracking.h"
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#include "tracking/t_hand_tracking.h"
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···
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*/
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struct t_hand_tracking_sync *
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t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib,
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enum hand_tracking_output_space output_space);
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enum hand_tracking_output_space output_space,
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struct hand_tracking_image_boundary_info boundary_info);
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#ifdef __cplusplus
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} // extern "C"
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-1
src/xrt/tracking/hand/mercury/hg_sync.cpp
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-1
src/xrt/tracking/hand/mercury/hg_sync.cpp
···
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*/
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extern "C" t_hand_tracking_sync *
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t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib, hand_tracking_output_space output_space)
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t_hand_tracking_sync_mercury_create(struct t_stereo_camera_calibration *calib,
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enum hand_tracking_output_space output_space,
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struct hand_tracking_image_boundary_info boundary_info)
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{
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XRT_TRACE_MARKER();
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