lm_interface.hpp File Reference

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

#include "xrt/xrt_defines.h"
#include "util/u_logging.h"
#include "../kine_common.hpp"

Include dependency graph for lm_interface.hpp:

Go to the source code of this file.

Functions
void	xrt::tracking::hand::mercury::lm::optimizer_create (xrt_pose left_in_right, bool is_right, u_logging_level log_level, KinematicHandLM **out_kinematic_hand)
void	xrt::tracking::hand::mercury::lm::optimizer_run (KinematicHandLM *hand, one_frame_input &observation, bool hand_was_untracked_last_frame, float smoothing_factor, bool optimize_hand_size, float target_hand_size, float hand_size_err_mul, float amt_use_depth, xrt_hand_joint_set &out_hand, float &out_hand_size, float &out_reprojection_error)
	The main tracking code calls this function with some 2D(ish) camera observations of the hand, and this function calculates a good 3D hand pose and writes it to out_viz_hand. More...
void	xrt::tracking::hand::mercury::lm::optimizer_destroy (KinematicHandLM **hand)

Detailed Description

Interface 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

Function Documentation

optimizer_run()

void xrt::tracking::hand::mercury::lm::optimizer_run	(	KinematicHandLM *	hand,
		one_frame_input &	observation,
		bool	hand_was_untracked_last_frame,
		float	smoothing_factor,
		bool	optimize_hand_size,
		float	target_hand_size,
		float	hand_size_err_mul,
		float	amt_use_depth,
		xrt_hand_joint_set &	out_hand,
		float &	out_hand_size,
		float &	out_reprojection_error
	)

The main tracking code calls this function with some 2D(ish) camera observations of the hand, and this function calculates a good 3D hand pose and writes it to out_viz_hand.

Parameters

	observation	The observation of the hand joints. Warning, this function will mutate the observation unpredictably. Keep a copy of it if you need it after.
	hand_was_untracked_last_frame	If the hand was untracked last frame (it was out of view, obscured, ML models failed, etc.) - if it was, we don't want to enforce temporal consistency because we have no good previous hand state with which to do that.
	optimize_hand_size	Whether or not it's allowed to tweak the hand size - when we're calibrating the user's hand size, we want to do that; afterwards we don't want to waste the compute.
	target_hand_size	The hand size we want it to get close to
	hand_size_err_mul	A multiplier to help determine how close it has to get to that hand size
[out]	out_hand	The xrt_hand_joint_set to output its result to
[out]	out_hand_size	The hand size it ended up at
[out]	out_reprojection_error	The reprojection error it ended up at

Parameters

smoothing_factor

- Unused if this is the first frame

References xrt::tracking::hand::mercury::lm::optimizer_run().

Referenced by xrt::tracking::hand::mercury::lm::optimizer_run().