hg_model.cpp File Reference

Mercury ML models! More...

#include "hg_sync.hpp"
#include "hg_image_math.inl"
#include "hg_numerics_checker.hpp"
#include <filesystem>
#include <array>

Include dependency graph for hg_model.cpp:

Macros
#define	ORT(expr)

Functions
static cv::Matx23f	xrt::tracking::hand::mercury::blackbar (const cv::Mat &in, enum t_camera_orientation rot, cv::Mat &out, xrt_size out_size)
static int	xrt::tracking::hand::mercury::argmax (const float *data, int size)
static bool	xrt::tracking::hand::mercury::hand_depth_center_of_mass (struct HandTracking *hgt, float data[22], float *out_depth, float *out_confidence)
static bool	xrt::tracking::hand::mercury::refine_center_of_distribution (struct HandTracking *hgt, const float *data, int coarse_x, int coarse_y, int w, int h, float *out_refined_x, float *out_refined_y)
static bool	xrt::tracking::hand::mercury::normalizeGrayscaleImage (cv::Mat &data_in, cv::Mat &data_out)
void	xrt::tracking::hand::mercury::setup_ort_api (HandTracking *hgt, onnx_wrap *wrap, std::filesystem::path path)
void	xrt::tracking::hand::mercury::setup_model_image_input (HandTracking *hgt, onnx_wrap *wrap, const char *name, int64_t w, int64_t h)
void	xrt::tracking::hand::mercury::init_hand_detection (HandTracking *hgt, onnx_wrap *wrap)
void	xrt::tracking::hand::mercury::run_hand_detection (void *ptr)
void	xrt::tracking::hand::mercury::init_keypoint_estimation (HandTracking *hgt, onnx_wrap *wrap)
void	xrt::tracking::hand::mercury::make_keypoint_heatmap_output (int camera_idx, int hand_idx, int grid_pt_x, int grid_pt_y, float *plane, cv::Mat &out)
void	xrt::tracking::hand::mercury::make_keypoint_depth_heatmap_output (int camera_idx, int hand_idx, int grid_pt_x, int grid_pt_y, float *plane, cv::Mat &out)
void	xrt::tracking::hand::mercury::set_predicted_zero (float *data)
void	xrt::tracking::hand::mercury::run_keypoint_estimation (void *ptr)
void	xrt::tracking::hand::mercury::release_onnx_wrap (onnx_wrap *wrap)

Variables
enum xrt_hand_joint	xrt::tracking::hand::mercury::joints_ml_to_xr [21]

Detailed Description

Mercury ML models!

Author

Moses Turner moses.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Macro Definition Documentation

ORT

#define ORT

(

expr

)

Value:

        do {                                                                                                           \
                OrtStatus *status = wrap->api->expr;                                                                   \
                if (status != nullptr) {                                                                               \
                        const char *msg = wrap->api->GetErrorMessage(status);                                          \
                        HG_ERROR(hgt, "[%s:%d]: %s\n", __FILE__, __LINE__, msg);                                       \
                        wrap->api->ReleaseStatus(status);                                                              \
                        assert(false);                                                                                 \
                }                                                                                                      \
        } while (0)

Function Documentation

normalizeGrayscaleImage()

static bool xrt::tracking::hand::mercury::normalizeGrayscaleImage ( cv::Mat &  data_in, cv::Mat &  data_out  )

static

Todo:

optimize

References xrt::tracking::hand::mercury::normalizeGrayscaleImage(), and U_LOG_W.

Referenced by xrt::tracking::hand::mercury::normalizeGrayscaleImage().

refine_center_of_distribution()

static bool xrt::tracking::hand::mercury::refine_center_of_distribution ( struct HandTracking *  hgt, const float *  data, int  coarse_x, int  coarse_y, int  w, int  h, float *  out_refined_x, float *  out_refined_y  )

static

Todo:

this is not good and has at least one edge case, make it more readable and link to a jupyter notebook

References xrt::tracking::hand::mercury::refine_center_of_distribution().

Referenced by xrt::tracking::hand::mercury::refine_center_of_distribution().

run_keypoint_estimation()

void xrt::tracking::hand::mercury::run_keypoint_estimation

(

void *

ptr

)

Todo:

when you change this to have +Z-forward

References xrt::tracking::hand::mercury::run_keypoint_estimation().

Referenced by xrt::tracking::hand::mercury::run_keypoint_estimation().

Variable Documentation

joints_ml_to_xr

enum xrt_hand_joint xrt::tracking::hand::mercury::joints_ml_to_xr[21]

Initial value:

{
    XRT_HAND_JOINT_WRIST,               
    XRT_HAND_JOINT_THUMB_METACARPAL,    
    XRT_HAND_JOINT_THUMB_PROXIMAL,      
    XRT_HAND_JOINT_THUMB_DISTAL,        
    XRT_HAND_JOINT_THUMB_TIP,           
                                        
    XRT_HAND_JOINT_INDEX_PROXIMAL,      
    XRT_HAND_JOINT_INDEX_INTERMEDIATE,  
    XRT_HAND_JOINT_INDEX_DISTAL,        
    XRT_HAND_JOINT_INDEX_TIP,           
                                        
    XRT_HAND_JOINT_MIDDLE_PROXIMAL,     
    XRT_HAND_JOINT_MIDDLE_INTERMEDIATE, 
    XRT_HAND_JOINT_MIDDLE_DISTAL,       
    XRT_HAND_JOINT_MIDDLE_TIP,          
                                        
    XRT_HAND_JOINT_RING_PROXIMAL,       
    XRT_HAND_JOINT_RING_INTERMEDIATE,   
    XRT_HAND_JOINT_RING_DISTAL,         
    XRT_HAND_JOINT_RING_TIP,            
                                        
    XRT_HAND_JOINT_LITTLE_PROXIMAL,     
    XRT_HAND_JOINT_LITTLE_INTERMEDIATE, 
    XRT_HAND_JOINT_LITTLE_DISTAL,       
    XRT_HAND_JOINT_LITTLE_TIP,          
}