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DeeJanuzandClaude Opus 5.5
2031b9ca8f
- fh-camd --with-color publishes the Arcturus colour pair (luma, half size, 30 fps) to the ring, flagged FH_CAM_COLOR. fh-tracker records them, and fh-replay --cams mono|color|all tracks with them, using the module's EEPROM calibration (load_color_calibration). tools/check_color.py checks which node is left and how the crop maps. - Pinch detection per hand (trackd/pinch.h), published to $XDG_RUNTIME_DIR/frame-hands/gestures (include/fh_gestures.h). It has begin and end counters, times, the pinch point, and the begin point for drags. tools/watch_gestures.py shows it live, and fh-replay reports it. - fh-replay --depth and tools/depth_report.py measure the depth without ground truth: noise along the line of sight against across it, the one-camera guess, and a simulated camera loss. - fh-tracker --swap-sides, --ring, --keep-presence, --record-only. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
40 lines
2.0 KiB
C++
40 lines
2.0 KiB
C++
// Tracking-camera calibration from the headset's factory files (see tracker/calib.py
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// for the conventions): Kannala-Brandt fisheye intrinsics, and each camera's pose in the
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// head frame (OpenVR's: +x right, +y up, -z forward), metres.
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#pragma once
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#include "geom.h"
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#include <map>
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#include <string>
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#include <vector>
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struct Camera {
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std::string name;
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int width = 0, height = 0;
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double fx = 1, fy = 1, cx = 0, cy = 0, k[4] = {};
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double R[3][3] = {}; // camera axes (columns) in the head frame
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V3 origin{}; // camera centre in the head frame
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V2 project_cam(V3 p) const; // camera frame -> pixels
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V3 unproject(V2 uv) const; // pixels -> unit ray, camera frame
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V3 ray(V2 uv) const; // pixels -> unit ray, head frame
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V2 project(V3 head, double *depth) const; // head frame -> pixels; depth along the optical axis
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double off_axis(V2 uv) const; // degrees between the pixel's ray and the axis
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};
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// Loads /persist/xrservice.json and /persist/device_config.json. Keyed by calibration
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// name: slam_left, slam_right, upper_left, upper_right.
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bool load_calibration(std::map<std::string, Camera> &out, std::string &err);
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// The Arcturus color cameras (tracker/calib.py load_color has the conventions), for
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// fh-camd --with-color's images: luma at 1/scale size, recorded as color_video<N>. They're
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// keyed by those recorded names: left_node is passthrough_left, right_node
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// passthrough_right. crop_subtract: image x = sensor x - the calibration's cropRegion.x.
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// tools/check_color.py tells which node is which and which crop reading fits.
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bool load_color_calibration(std::map<std::string, Camera> &out, const std::string &left_node,
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const std::string &right_node, bool crop_subtract, int scale, std::string &err);
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// The point closest to several rays (weighted), and its rms distance to them.
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V3 triangulate(const V3 *origins, const V3 *dirs, const double *weights, int n, double *rms);
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