The open source OpenXR runtime
mercury: Correctly handle lower resolution input images
And better calibration debug prints
+64
-9
+59
-7
src/xrt/tracking/hand/mercury/hg_sync.cpp
+59
-7
src/xrt/tracking/hand/mercury/hg_sync.cpp
···
11
11
12
12
#include "hg_sync.hpp"
13
13
#include "hg_model.hpp"
14
+
#include <numeric>
14
15
15
16
namespace xrt::tracking::hand::mercury {
16
17
// Flags to tell state tracker that these are indeed valid joints
···
49
50
xrt_vec3 trans = {(float)wrap.camera_translation_mat(0, 0), (float)wrap.camera_translation_mat(1, 0),
50
51
(float)wrap.camera_translation_mat(2, 0)};
51
52
htd->baseline = m_vec3_len(trans);
53
+
HT_DEBUG(htd, "I think the baseline is %f meters!", htd->baseline);
52
54
// Note, this assumes camera 0 is the left camera and camera 1 is the right camera.
53
55
// If you find one with the opposite arrangement, you'll need to invert htd->baseline, and look at
54
56
// hgJointDisparityMath
55
57
56
58
htd->use_fisheye = wrap.view[0].use_fisheye;
57
59
60
+
if (htd->use_fisheye) {
61
+
HT_DEBUG(htd, "I think the cameras are fisheye!");
62
+
} else {
63
+
HT_DEBUG(htd, "I think the cameras are not fisheye!");
64
+
}
65
+
58
66
cv::Matx34d P1;
59
67
cv::Matx34d P2;
60
68
···
105
113
} else {
106
114
htd->views[i].distortion = wrap.view[i].distortion_mat;
107
115
}
116
+
117
+
if (htd->log_level <= U_LOGGING_DEBUG) {
118
+
HT_DEBUG(htd, "R%d ->", i);
119
+
std::cout << htd->views[i].rotate_camera_to_stereo_camera << std::endl;
120
+
121
+
HT_DEBUG(htd, "K%d ->", i);
122
+
std::cout << htd->views[i].cameraMatrix << std::endl;
123
+
124
+
HT_DEBUG(htd, "D%d ->", i);
125
+
std::cout << htd->views[i].distortion << std::endl;
126
+
}
108
127
}
109
128
110
-
htd->one_view_size_px.w = wrap.view[0].image_size_pixels.w;
111
-
htd->one_view_size_px.h = wrap.view[0].image_size_pixels.h;
129
+
htd->calibration_one_view_size_px.w = wrap.view[0].image_size_pixels.w;
130
+
htd->calibration_one_view_size_px.h = wrap.view[0].image_size_pixels.h;
131
+
132
+
htd->last_frame_one_view_size_px = htd->calibration_one_view_size_px;
133
+
htd->multiply_px_coord_for_undistort = 1.0f;
112
134
113
135
cv::Matx33d rotate_stereo_camera_to_left_camera = htd->views[0].rotate_camera_to_stereo_camera.inv();
114
136
···
235
257
.040f * .5f; // Measured my wrist thickness with calipers
236
258
}
237
259
260
+
static bool handle_changed_image_size(HandTracking *htd, xrt_size &new_one_view_size)
261
+
{
262
+
int gcd_calib = std::gcd(htd->calibration_one_view_size_px.h, htd->calibration_one_view_size_px.w);
263
+
int gcd_new = std::gcd(new_one_view_size.h, new_one_view_size.w);
264
+
265
+
int lcm_h_calib = htd->calibration_one_view_size_px.h/gcd_calib;
266
+
int lcm_w_calib = htd->calibration_one_view_size_px.w/gcd_calib;
267
+
268
+
int lcm_h_new = new_one_view_size.h/gcd_new;
269
+
int lcm_w_new = new_one_view_size.w/gcd_new;
270
+
271
+
bool good = (lcm_h_calib == lcm_h_new) && (lcm_w_calib == lcm_w_new);
272
+
273
+
if (!good) {
274
+
HT_WARN(htd, "Can't process this frame, wrong aspect ratio.");
275
+
return false;
276
+
}
277
+
278
+
htd->multiply_px_coord_for_undistort = (float)htd->calibration_one_view_size_px.h/(float)new_one_view_size.h;
279
+
htd->last_frame_one_view_size_px = new_one_view_size;
280
+
return true;
281
+
}
282
+
238
283
/*
239
284
*
240
285
* Member functions.
···
296
341
const int full_height = left_frame->height;
297
342
const int full_width = left_frame->width*2;
298
343
299
-
const int view_width = htd->one_view_size_px.w;
300
-
const int view_height = htd->one_view_size_px.h;
301
-
302
-
assert(full_height == view_height);
344
+
if ((left_frame->width != (uint32_t)htd->last_frame_one_view_size_px.w) || (left_frame->height != (uint32_t)htd->last_frame_one_view_size_px.h))
345
+
{
346
+
xrt_size new_one_view_size;
347
+
new_one_view_size.h = left_frame->height;
348
+
new_one_view_size.w = left_frame->width;
349
+
// Could be an assert, should never happen.
350
+
if (!handle_changed_image_size(htd, new_one_view_size)) {
351
+
return;
352
+
}
353
+
}
303
354
304
-
htd->multiply_px_coord_for_undistort = 1.0f;
355
+
const int view_width = htd->last_frame_one_view_size_px.w;
356
+
const int view_height = htd->last_frame_one_view_size_px.h;
305
357
306
358
const cv::Size full_size = cv::Size(full_width, full_height);
307
359
const cv::Size view_size = cv::Size(view_width, view_height);
+5
-2
src/xrt/tracking/hand/mercury/hg_sync.hpp
+5
-2
src/xrt/tracking/hand/mercury/hg_sync.hpp
···
169
169
170
170
struct u_sink_debug debug_sink = {};
171
171
172
-
int multiply_px_coord_for_undistort;
172
+
float multiply_px_coord_for_undistort;
173
173
174
174
bool use_fisheye;
175
175
···
177
177
178
178
struct t_stereo_camera_calibration *calib;
179
179
180
-
struct xrt_size one_view_size_px = {};
180
+
struct xrt_size calibration_one_view_size_px = {};
181
+
182
+
// So that we can calibrate cameras at 1280x800 but ship images over USB at 640x400
183
+
struct xrt_size last_frame_one_view_size_px = {};
181
184
182
185
#ifdef USE_NCNN
183
186
ncnn_net_t net;