kine_common.hpp

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// Copyright 2022, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Random common stuff for Mercury kinematic optimizers
 * @author Moses Turner <moses@collabora.com>
 * @ingroup tracking
 */
 
#pragma once
#include <array>
#include "xrt/xrt_defines.h"
namespace xrt::tracking::hand::mercury {
 
// Changing this to double should work but you might need to fix some things.
// Float is faster, and nothing (should) be too big or too small to require double.
 
// Different from `Scalar` in lm_* templates - those can be `Ceres::Jet`s too.
typedef float HandScalar;
 
// Used for "2.5D" joint locations, with a 2D ray direction in stereographic-space and a 1D depth relative to the
// middle-proximal joint.
struct vec2_5
{
        xrt_vec2 pos_2d;
        float depth_relative_to_midpxm;
 
        float confidence_xy;
        float confidence_depth;
};
 
// Using the compiler to stop me from getting 2D space mixed up with 3D space.
using MLOutput2D = std::array<vec2_5, 21>;
 
struct one_curl
{
        float value;
        float variance;
};
 
// Inputs to kinematic optimizers
//!@todo Ask Rylie if adding `= {}` only does something if we do one_frame_one_view bla = {}.
struct one_frame_one_view
{
        bool active = true;
        xrt_quat look_dir;
        float stereographic_radius;
        MLOutput2D keypoints_in_scaled_stereographic;
        one_curl curls[5];
};
 
struct one_frame_input
{
        one_frame_one_view views[2] = {};
};
 
namespace Joint21 {
        enum Joint21
        {
                WRIST = 0,
 
                THMB_MCP = 1,
                THMB_PXM = 2,
                THMB_DST = 3,
                THMB_TIP = 4,
 
                INDX_PXM = 5,
                INDX_INT = 6,
                INDX_DST = 7,
                INDX_TIP = 8,
 
                MIDL_PXM = 9,
                MIDL_INT = 10,
                MIDL_DST = 11,
                MIDL_TIP = 12,
 
                RING_PXM = 13,
                RING_INT = 14,
                RING_DST = 15,
                RING_TIP = 16,
 
                LITL_PXM = 17,
                LITL_INT = 18,
                LITL_DST = 19,
                LITL_TIP = 20
        };
}
 
//!@todo These are not backed up by real anthropometry data; they are just guesstimates. Patches welcome!
constexpr HandScalar MIN_HAND_SIZE = 0.06;
constexpr HandScalar STANDARD_HAND_SIZE = 0.09;
constexpr HandScalar MAX_HAND_SIZE = 0.12;
 
} // namespace xrt::tracking::hand::mercury