The open source OpenXR runtime
d/ht: Fix rotation/flipping of right hands
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.
authored by
Jan Schmidt
and committed by
Moses Turner
fc3fbd60
9077261a
+27
-20
+27
-20
src/xrt/tracking/hand/mercury/hg_model.cpp
+27
-20
src/xrt/tracking/hand/mercury/hg_model.cpp
···
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out_src_tri[2] = top_right; //{center - go_down + go_right};
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} break;
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case CAMERA_ORIENTATION_90: {
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+
// Need to rotate the view back by -90°
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// top left (becomes top right)
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out_src_tri[0] = top_right;
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-
// top left (becomes bottom left)
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out_src_tri[0] = bottom_left; //{center + go_down - go_right};
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-
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// bottom left (becomes bottom right)
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out_src_tri[1] = bottom_right; //{center + go_down + go_right};
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// bottom left (becomes top left)
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out_src_tri[1] = top_left;
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-
// top right (becomes top left)
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out_src_tri[2] = top_left; //{center - go_down - go_right};
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// top right (becomes bottom right)
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out_src_tri[2] = bottom_right;
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} break;
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+
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case CAMERA_ORIENTATION_180: {
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// top left (becomes bottom right)
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out_src_tri[0] = bottom_right;
···
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out_src_tri[2] = bottom_left;
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} break;
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case CAMERA_ORIENTATION_270: {
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// top left (becomes top right)
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out_src_tri[0] = top_right;
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// Need to rotate the view clockwise 90°
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// top left (becomes bottom left)
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out_src_tri[0] = bottom_left; //{center + go_down - go_right};
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// bottom left (becomes top left)
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out_src_tri[1] = top_left;
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// bottom left (becomes bottom right)
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out_src_tri[1] = bottom_right; //{center + go_down + go_right};
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-
// top right (becomes bottom right)
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out_src_tri[2] = bottom_right;
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// top right (becomes top left)
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out_src_tri[2] = top_left; //{center - go_down - go_right};
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} break;
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default: assert(false);
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}
···
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cv::Point2f go_right = {output->size_px / 2, 0};
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cv::Point2f go_down = {0, output->size_px / 2};
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calc_src_tri(center, go_right, go_down, info->view->camera_info.camera_orientation, src_tri);
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/* For the right hand, flip the result horizontally since
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* the model is trained on left hands.
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* Top left, bottom left, top right */
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if (info->hand_idx == 1) {
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go_right *= -1;
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dst_tri[0] = {128, 0};
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dst_tri[1] = {128, 128};
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dst_tri[2] = {0, 0};
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} else {
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dst_tri[0] = {0, 0};
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dst_tri[1] = {0, 128};
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dst_tri[2] = {128, 0};
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}
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calc_src_tri(center, go_right, go_down, info->view->camera_info.camera_orientation, src_tri);
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dst_tri[0] = {0, 0};
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dst_tri[1] = {0, 128};
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dst_tri[2] = {128, 0};
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cv::Matx23f go_there = getAffineTransform(src_tri, dst_tri);
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cv::Matx23f go_back = getAffineTransform(dst_tri, src_tri);