hg_sync.hpp

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// Copyright 2022, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Mercury main header!
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @author Moses Turner <moses@collabora.com>
 * @ingroup tracking
 */
 
#pragma once
 
#include "hg_interface.h"
#include "hg_debug_instrumentation.hpp"
 
#include "tracking/t_hand_tracking.h"
#include "tracking/t_camera_models.h"
 
#include "xrt/xrt_defines.h"
#include "xrt/xrt_frame.h"
#include "xrt/xrt_tracking.h"
 
#include "math/m_api.h"
#include "math/m_vec2.h"
#include "math/m_vec3.h"
#include "math/m_mathinclude.h"
#include "math/m_eigen_interop.hpp"
 
#include "util/u_frame_times_widget.h"
#include "util/u_logging.h"
#include "util/u_sink.h"
#include "util/u_template_historybuf.hpp"
#include "util/u_worker.h"
#include "util/u_trace_marker.h"
#include "util/u_debug.h"
#include "util/u_frame.h"
#include "util/u_var.h"
 
#include <assert.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
 
#include <opencv2/opencv.hpp>
#include <onnxruntime_c_api.h>
 
#include "kine_common.hpp"
#include "kine_lm/lm_interface.hpp"
 
 
namespace xrt::tracking::hand::mercury {
 
using namespace xrt::auxiliary::util;
using namespace xrt::auxiliary::math;
 
#define HG_TRACE(hgt, ...) U_LOG_IFL_T(hgt->log_level, __VA_ARGS__)
#define HG_DEBUG(hgt, ...) U_LOG_IFL_D(hgt->log_level, __VA_ARGS__)
#define HG_INFO(hgt, ...) U_LOG_IFL_I(hgt->log_level, __VA_ARGS__)
#define HG_WARN(hgt, ...) U_LOG_IFL_W(hgt->log_level, __VA_ARGS__)
#define HG_ERROR(hgt, ...) U_LOG_IFL_E(hgt->log_level, __VA_ARGS__)
 
static constexpr uint16_t kDetectionInputSize = 160;
static constexpr uint16_t kKeypointInputSize = 128;
 
static constexpr uint16_t kKeypointOutputHeatmapSize = 22;
static constexpr uint16_t kVisSpacerSize = 8;
 
static const cv::Scalar RED(255, 30, 30);
static const cv::Scalar YELLOW(255, 255, 0);
static const cv::Scalar PINK(255, 0, 255);
static const cv::Scalar GREEN(0, 255, 0);
 
static const cv::Scalar colors[2] = {YELLOW, RED};
 
constexpr enum xrt_hand_joint joints_5x5_to_26[5][5] = {
    {
        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_METACARPAL,
        XRT_HAND_JOINT_INDEX_PROXIMAL,
        XRT_HAND_JOINT_INDEX_INTERMEDIATE,
        XRT_HAND_JOINT_INDEX_DISTAL,
        XRT_HAND_JOINT_INDEX_TIP,
    },
    {
        XRT_HAND_JOINT_MIDDLE_METACARPAL,
        XRT_HAND_JOINT_MIDDLE_PROXIMAL,
        XRT_HAND_JOINT_MIDDLE_INTERMEDIATE,
        XRT_HAND_JOINT_MIDDLE_DISTAL,
        XRT_HAND_JOINT_MIDDLE_TIP,
    },
    {
        XRT_HAND_JOINT_RING_METACARPAL,
        XRT_HAND_JOINT_RING_PROXIMAL,
        XRT_HAND_JOINT_RING_INTERMEDIATE,
        XRT_HAND_JOINT_RING_DISTAL,
        XRT_HAND_JOINT_RING_TIP,
    },
    {
        XRT_HAND_JOINT_LITTLE_METACARPAL,
        XRT_HAND_JOINT_LITTLE_PROXIMAL,
        XRT_HAND_JOINT_LITTLE_INTERMEDIATE,
        XRT_HAND_JOINT_LITTLE_DISTAL,
        XRT_HAND_JOINT_LITTLE_TIP,
    },
};
 
namespace ROIProvenance {
        enum ROIProvenance
        {
                HAND_DETECTION,
                POSE_PREDICTION
        };
}
 
 
// Forward declaration for ht_view
struct HandTracking;
struct ht_view;
 
 
struct Hand3D
{
        struct xrt_vec3 kps[21];
};
 
using hand21_2d = std::array<vec2_5, 21>;
 
struct projection_instructions
{
        Eigen::Quaternionf rot_quat = Eigen::Quaternionf::Identity();
        float stereographic_radius = 0;
        bool flip = false;
        const t_camera_model_params &dist;
 
        projection_instructions(const t_camera_model_params &dist) : dist(dist) {}
};
 
struct model_input_wrap
{
        float *data = nullptr;
        int64_t dimensions[4];
        size_t num_dimensions = 0;
 
        OrtValue *tensor = nullptr;
        const char *name;
};
 
struct onnx_wrap
{
        const OrtApi *api = nullptr;
        OrtEnv *env = nullptr;
 
        OrtMemoryInfo *meminfo = nullptr;
        OrtSession *session = nullptr;
 
        std::vector<model_input_wrap> wraps = {};
};
 
// Multipurpose.
// * Hand detector writes into center_px, size_px, found and hand_detection_confidence
// * Keypoint estimator operates on this to a direction/radius for the stereographic projection, and for the associated
// keypoints.
struct hand_region_of_interest
{
        ROIProvenance::ROIProvenance provenance;
 
        // Either set by the detection model or by predict_new_regions_of_interest/back_project
        xrt_vec2 center_px;
        float size_px;
 
        bool found;
        bool hand_detection_confidence;
};
 
 
 
struct hand_detection_run_info
{
        ht_view *view;
        // These are not duplicates of ht_view's regions_of_interest_this_frame!
        // If some hands are already tracked, we have logic that only copies new ROIs to this frame's regions of
        // interest.
        hand_region_of_interest outputs[2];
};
 
 
struct keypoint_estimation_run_info
{
        ht_view *view;
        bool hand_idx;
};
 
struct ht_view
{
        HandTracking *hgt;
        onnx_wrap detection;
        onnx_wrap keypoint[2];
        int view;
 
        struct t_camera_extra_info_one_view camera_info;
 
        t_camera_model_params hgdist_orig;
        // With fx, fy, cx, cy scaled to the current camera resolution as appropriate.
        t_camera_model_params hgdist;
 
 
        cv::Mat run_model_on_this;
        cv::Mat debug_out_to_this;
 
        struct hand_region_of_interest regions_of_interest_this_frame[2]; // left, right
 
        struct keypoint_estimation_run_info run_info[2];
};
 
 
struct hand_size_refinement
{
        int num_hands;
        float out_hand_size;
        float out_hand_confidence;
        float hand_size_refinement_schedule_x = 0;
        float hand_size_refinement_schedule_y = 0;
        bool optimizing = true;
};
 
struct model_output_visualizers
{
        // After setup, these reference the same piece of memory.
        cv::Mat mat;
        xrt_frame *xrtframe = NULL;
 
        // After pushing to the debug UI, we reference the frame here so that we can copy memory out of it for next
        // frame.
        xrt_frame *old_frame = NULL;
};
 
/*!
 * Main class of Mercury hand tracking.
 *
 * @ingroup aux_tracking
 */
struct HandTracking
{
public:
        // Base thing, has to be first.
        t_hand_tracking_sync base = {};
 
        struct u_sink_debug debug_sink_ann = {};
        struct u_sink_debug debug_sink_model = {};
        struct xrt_hand_masks_sink *hand_masks_sink;
 
        float multiply_px_coord_for_undistort;
 
 
        struct t_stereo_camera_calibration *calib;
 
        struct xrt_size calibration_one_view_size_px = {};
 
        // So that we can calibrate cameras at 1280x800 but ship images over USB at 640x400
        struct xrt_size last_frame_one_view_size_px = {};
 
        struct ht_view views[2] = {};
 
        struct model_output_visualizers visualizers;
 
        u_worker_thread_pool *pool;
 
        u_worker_group *group;
 
 
        float baseline = {};
        xrt_pose hand_pose_camera_offset = {};
 
        uint64_t current_frame_timestamp = {};
 
        bool debug_scribble = false;
 
        char models_folder[1024];
 
        enum u_logging_level log_level = U_LOGGING_INFO;
 
        lm::KinematicHandLM *kinematic_hands[2];
 
        // These are produced by the keypoint estimator and consumed by the nonlinear optimizer
        // left hand, right hand THEN left view, right view
        struct one_frame_input keypoint_outputs[2];
 
        // Used to track whether this hand has *ever* been seen during this user's session, so that we can spend some
        // extra time optimizing their hand size if one of their hands isn't visible for the first bit.
        bool hand_seen_before[2] = {false, false};
 
        // Used to:
        // * see if a hand is currently being tracked.
        // * If so, don't replace the bounding box with that from a hand detection.
        // * Also, if both hands are being tracked, we just don't run the hand detector.
        bool last_frame_hand_detected[2] = {false, false};
 
        // Used to decide whether to run the keypoint estimator/nonlinear optimizer.
        bool this_frame_hand_detected[2] = {false, false};
 
        // Used to determine pose-predicted regions of interest. Contains the last 2 hand keypoint positions, or less
        // if the hand has just started being tracked.
        HistoryBuffer<Eigen::Array<float, 3, 21>, 2> history_hands[2] = {};
 
        // Contains the last 2 timestamps, or less if hand tracking has just started.
        HistoryBuffer<uint64_t, 2> history_timestamps = {};
 
        // It'd be a staring contest between your hand and the heat death of the universe!
        uint64_t hand_tracked_for_num_frames[2] = {0, 0};
 
 
        // left hand, right hand
        Eigen::Array<float, 3, 21> pose_predicted_keypoints[2];
 
        int detection_counter = 0;
 
        struct hand_size_refinement refinement = {};
        float target_hand_size = STANDARD_HAND_SIZE;
 
 
        xrt_frame *debug_frame;
 
 
        // This should be removed.
        void (*keypoint_estimation_run_func)(void *);
 
 
 
        struct xrt_pose left_in_right = {};
 
        u_frame_times_widget ft_widget = {};
 
        struct hg_tuneable_values tuneable_values;
 
public:
        explicit HandTracking();
        ~HandTracking();
 
        static inline HandTracking &
        fromC(t_hand_tracking_sync *ht_sync)
        {
                return *reinterpret_cast<HandTracking *>(ht_sync);
        }
 
        static void
        cCallbackProcess(struct t_hand_tracking_sync *ht_sync,
                         struct xrt_frame *left_frame,
                         struct xrt_frame *right_frame,
                         struct xrt_hand_joint_set *out_left_hand,
                         struct xrt_hand_joint_set *out_right_hand,
                         uint64_t *out_timestamp_ns);
 
        static void
        cCallbackDestroy(t_hand_tracking_sync *ht_sync);
};
 
 
void
init_hand_detection(HandTracking *hgt, onnx_wrap *wrap);
 
void
run_hand_detection(void *ptr);
 
void
init_keypoint_estimation(HandTracking *hgt, onnx_wrap *wrap);
 
void
run_keypoint_estimation(void *ptr);
 
void
release_onnx_wrap(onnx_wrap *wrap);
 
 
void
make_projection_instructions(t_camera_model_params &dist,
                             bool flip_after,
                             float expand_val,
                             float twist,
                             Eigen::Array<float, 3, 21> &joints,
                             projection_instructions &out_instructions,
                             hand21_2d &out_hand);
 
 
void
make_projection_instructions_angular(xrt_vec3 direction_3d,
                                     bool flip_after,
                                     float angular_radius,
                                     float expand_val,
                                     float twist,
                                     projection_instructions &out_instructions);
 
void
stereographic_project_image(const t_camera_model_params &dist,
                            const projection_instructions &instructions,
                            cv::Mat &input_image,
                            cv::Mat *debug_image,
                            const cv::Scalar boundary_color,
                            cv::Mat &out);
 
 
 
} // namespace xrt::tracking::hand::mercury