Main class of Mercury hand tracking. More...

#include </builds/monado/monado/src/xrt/tracking/hand/mercury/hg_sync.hpp>

Collaboration diagram for xrt::tracking::hand::mercury::HandTracking:

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Static Public Member Functions
static HandTracking &	fromC (t_hand_tracking_sync *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, int64_t out_timestamp_ns)

static void	cCallbackDestroy (t_hand_tracking_sync *ht_sync)

Data Fields
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 = {}

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]

struct one_frame_input	keypoint_outputs [2]

bool	hand_seen_before [2] = {false, false}

bool	last_frame_hand_detected [2] = {false, false}

bool	this_frame_hand_detected [2] = {false, false}

HistoryBuffer< Eigen::Array< float, 3, 21 >, 2 >	history_hands [2] = {}

HistoryBuffer< uint64_t, 2 >	history_timestamps = {}

uint64_t	hand_tracked_for_num_frames [2] = {0, 0}

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

void(*	keypoint_estimation_run_func )(void *)

struct xrt_pose	left_in_right = {}

u_frame_times_widget	ft_widget = {}

struct hg_tuneable_values	tuneable_values

Detailed Description

Main class of Mercury hand tracking.

Member Function Documentation

◆ cCallbackProcess()

void xrt::tracking::hand::mercury::HandTracking::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,
		int64_t *	out_timestamp_ns
	)

static

Todo:: does this go here?

Todo:: optimize: We can have one of these on each thread

References xrt::tracking::hand::mercury::back_project_keypoint_output(), xrt::auxiliary::util::HistoryBuffer< T, MaxSize >::get_at_age(), xrt::tracking::hand::mercury::handle_changed_image_size(), xrt::auxiliary::util::HistoryBuffer< T, MaxSize >::push_back(), xrt::tracking::hand::mercury::stop_everything_if_hands_are_overlapping(), time_ns_to_s(), u_frame_create_one_off(), u_hand_joints_apply_joint_width(), u_worker_group_push(), and u_worker_group_wait_all().

The documentation for this struct was generated from the following files:

tracking/hand/mercury/hg_sync.hpp
tracking/hand/mercury/hg_sync.cpp

Static Public Member Functions

Data Fields

Detailed Description

Member Function Documentation

◆ cCallbackProcess()