lm_defines.hpp File Reference

Defines for Levenberg-Marquardt kinematic optimizer. More...

#include "math/m_mathinclude.h"
#include "math/m_eigen_interop.hpp"
#include "util/u_logging.h"
#include "../kine_common.hpp"

Include dependency graph for lm_defines.hpp:

Go to the source code of this file.

Data Structures
class	xrt::tracking::hand::mercury::lm::HandStability
struct	xrt::tracking::hand::mercury::lm::Quat< Scalar >
struct	xrt::tracking::hand::mercury::lm::Vec3< Scalar >
struct	xrt::tracking::hand::mercury::lm::Vec2< Scalar >
struct	xrt::tracking::hand::mercury::lm::ResidualHelper< T >
struct	xrt::tracking::hand::mercury::lm::OptimizerMetacarpalBone< T >
struct	xrt::tracking::hand::mercury::lm::OptimizerFinger< T >
struct	xrt::tracking::hand::mercury::lm::OptimizerThumb< T >
struct	xrt::tracking::hand::mercury::lm::OptimizerHand< T >
struct	xrt::tracking::hand::mercury::lm::minmax
class	xrt::tracking::hand::mercury::lm::FingerLimit
class	xrt::tracking::hand::mercury::lm::HandLimit
struct	xrt::tracking::hand::mercury::lm::StereographicObservation< T >
struct	xrt::tracking::hand::mercury::lm::DepthObservation< T >
struct	xrt::tracking::hand::mercury::lm::ResidualTracker< T >
struct	xrt::tracking::hand::mercury::lm::KinematicHandLM
struct	xrt::tracking::hand::mercury::lm::Translations55< T >
struct	xrt::tracking::hand::mercury::lm::Orientations54< T >
struct	xrt::tracking::hand::mercury::lm::CostFunctor< optimize_hand_size >

Macros
#define	LM_TRACE(lmh, ...)   U_LOG_IFL_T(lmh.log_level, __VA_ARGS__)
#define	LM_DEBUG(lmh, ...)   U_LOG_IFL_D(lmh.log_level, __VA_ARGS__)
#define	LM_INFO(lmh, ...)   U_LOG_IFL_I(lmh.log_level, __VA_ARGS__)
#define	LM_WARN(lmh, ...)   U_LOG_IFL_W(lmh.log_level, __VA_ARGS__)
#define	LM_ERROR(lmh, ...)   U_LOG_IFL_E(lmh.log_level, __VA_ARGS__)
#define	USE_HAND_SIZE
#define	USE_HAND_TRANSLATION
#define	USE_HAND_ORIENTATION
#define	USE_EVERYTHING_ELSE

Functions
template<typename T >
T	xrt::tracking::hand::mercury::lm::rad (T degrees)
constexpr size_t	xrt::tracking::hand::mercury::lm::calc_input_size (bool optimize_hand_size)
constexpr size_t	xrt::tracking::hand::mercury::lm::calc_residual_size (bool stability, bool optimize_hand_size, int num_views)

Variables
static constexpr size_t	xrt::tracking::hand::mercury::lm::kNumNNJoints = 21
static constexpr size_t	xrt::tracking::hand::mercury::lm::kNumFingers = 5
static constexpr size_t	xrt::tracking::hand::mercury::lm::kNumJointsInFinger = 5
static constexpr size_t	xrt::tracking::hand::mercury::lm::kNumOrientationsInFinger = 4
static constexpr size_t	xrt::tracking::hand::mercury::lm::kMetacarpalBoneDim = 3
static constexpr size_t	xrt::tracking::hand::mercury::lm::kProximalBoneDim = 2
static constexpr size_t	xrt::tracking::hand::mercury::lm::kFingerDim = kProximalBoneDim + 2
static constexpr size_t	xrt::tracking::hand::mercury::lm::kThumbDim = kMetacarpalBoneDim + 2
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHandSizeDim = 1
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHandTranslationDim = 3
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHandOrientationDim = 3
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHRTC_HandSize = 1
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHRTC_RootBoneTranslation = 3
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHRTC_RootBoneOrientation = 3
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHRTC_ThumbMCPSwingTwist = 3
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHRTC_ThumbCurls = 2
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHRTC_ProximalSimilarity = 2
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHRTC_FingerMCPSwingTwist = 0
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHRTC_FingerPXMSwing = 2
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHRTC_FingerCurls = 2
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHRTC_CurlSimilarity = 1
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHandResidualOneSideXY = (kNumNNJoints * 2)
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHandResidualOneSideDepth = 20
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHandResidualOneSideMatchCurls = 0
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHandResidualOneSideSize
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHandResidualTemporalConsistencyOneFingerSize
static constexpr size_t	xrt::tracking::hand::mercury::lm::kHandResidualTemporalConsistencySize
static constexpr HandScalar	xrt::tracking::hand::mercury::lm::kPlausibilityRoot = 1.0
static constexpr HandScalar	xrt::tracking::hand::mercury::lm::kPlausibilityProximalSimilarity = 0.05f * kPlausibilityRoot
static constexpr HandScalar	xrt::tracking::hand::mercury::lm::kPlausibilityCurlSimilarityHard = 0.10f * kPlausibilityRoot
static constexpr HandScalar	xrt::tracking::hand::mercury::lm::kPlausibilityCurlSimilaritySoft = 0.05f * kPlausibilityRoot
static const class HandLimit	xrt::tracking::hand::mercury::lm::the_limit = {}

Detailed Description

Defines for Levenberg-Marquardt kinematic optimizer.

Author

Moshi Turner moshi.nosp@m.turn.nosp@m.er@pr.nosp@m.oton.nosp@m.mail..nosp@m.com

Charlton Rodda charl.nosp@m.ton..nosp@m.rodda.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Variable Documentation

kHandResidualOneSideSize

constexpr size_t xrt::tracking::hand::mercury::lm::kHandResidualOneSideSize

staticconstexpr

Initial value:

=
    kHandResidualOneSideXY + kHandResidualOneSideDepth + kHandResidualOneSideMatchCurls

kHandResidualTemporalConsistencyOneFingerSize

constexpr size_t xrt::tracking::hand::mercury::lm::kHandResidualTemporalConsistencyOneFingerSize

staticconstexpr

Initial value:

= 
    kHRTC_FingerMCPSwingTwist +                                         
    kHRTC_FingerPXMSwing +                                              
    kHRTC_FingerCurls +                                                 
 
 
                                                                  
    0

kHandResidualTemporalConsistencySize

constexpr size_t xrt::tracking::hand::mercury::lm::kHandResidualTemporalConsistencySize

staticconstexpr

Initial value:

= 
    kHRTC_RootBoneTranslation +                                
    kHRTC_RootBoneOrientation +                                
    kHRTC_ThumbMCPSwingTwist +                                 
    kHRTC_ThumbCurls +                                         
 
 
                                                         
    (kHandResidualTemporalConsistencyOneFingerSize * 4) +      
    0