HandModelV2.cpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package
19  * @author
20  * @date
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 #include "HandModelV2.h"
25 
26 #include <fstream>
27 #include <iostream>
28 
29 #include <ArmarXCore/core/logging/Logging.h>
30 
31 namespace visionx
32 {
33 
34  CHandModelV2::CFinger::CFinger(std::vector<float> aJointOffsets,
35  std::vector<Vec3d> aFingerTipCorners)
36  {
37  for (size_t i = 0; i < aJointOffsets.size(); i++)
38  {
39  m_aJointOffsets.push_back(aJointOffsets.at(i));
40  m_aJointAngles.push_back(0);
41  }
42  m_aFingerJointsInFingerBaseCS.resize(aJointOffsets.size() + 1);
43  Math3d::SetVec(m_aFingerJointsInFingerBaseCS.at(0), 0, 0, 0);
44 
45  for (size_t i = 0; i < aFingerTipCorners.size(); i++)
46  {
47  m_aFingerTipCornersInLocalCS.push_back(aFingerTipCorners.at(i));
48  }
49  m_aFingerTipCornersInFingerBaseCS.resize(aFingerTipCorners.size());
50 
51  // initial calculation, all angles 0
52  UpdateJointAngles(m_aJointAngles);
53  }
54 
55  void
56  CHandModelV2::CFinger::UpdateJointAngles(std::vector<float> aNewJointValues)
57  {
58  Mat3d mRotLocal, mRotGlobal = Math3d::unit_mat;
59  Vec3d vTemp = Math3d::zero_vec;
60 
61  // joint angles and positions
62  const size_t n = (m_aJointAngles.size() <= aNewJointValues.size()) ? m_aJointAngles.size()
63  : aNewJointValues.size();
64  for (size_t i = 0; i < n; i++)
65  {
66  m_aJointAngles.at(i) = aNewJointValues.at(i);
67  Math3d::SetRotationMatY(mRotLocal, aNewJointValues.at(i));
68  Math3d::MulMatMat(mRotGlobal, mRotLocal, mRotGlobal);
69  vTemp.x = m_aJointOffsets.at(i);
70  Math3d::MulMatVec(mRotGlobal,
71  vTemp,
72  m_aFingerJointsInFingerBaseCS.at(i),
73  m_aFingerJointsInFingerBaseCS.at(i + 1));
74  }
75 
76  Vec3d vFingerTipPosition = m_aFingerJointsInFingerBaseCS.at(m_aJointAngles.size());
77  for (size_t i = 0; i < m_aFingerTipCornersInLocalCS.size(); i++)
78  {
79  Math3d::MulMatVec(mRotGlobal,
80  m_aFingerTipCornersInLocalCS.at(i),
81  vFingerTipPosition,
82  m_aFingerTipCornersInFingerBaseCS.at(i));
83  }
84  }
85 
86  CHandModelV2::CHandModelV2(std::string sConfigFileName, CStereoCalibration* pStereoCalibration)
87  {
88  m_pStereoCalibration = pStereoCalibration;
89 
90  //****************************************
91  // read hand config file
92  //****************************************
93 
94  std::ifstream sFileStream(sConfigFileName.c_str(), std::ifstream::in);
95  if (!sFileStream.good())
96  {
97  ARMARX_WARNING_S << "CHandModelV2 constructor: file " << sConfigFileName
98  << " could not be opened";
99  return;
100  }
101 
102  setlocale(LC_NUMERIC, "C");
103 
104  std::string sLine;
105  Vec3d vTemp;
106  float fTemp;
107  std::vector<std::vector<float>> aJointOffsets;
108  aJointOffsets.resize(5);
109 
110  // offset to thumb base
111  sLine = GetNextNonCommentLine(sFileStream);
112  sscanf(sLine.c_str(), "%f %f %f", &vTemp.x, &vTemp.y, &vTemp.z);
113  m_aOffsetsToFingers.push_back(vTemp);
114 
115  // distance from thumb base joint to second joint
116  sLine = GetNextNonCommentLine(sFileStream);
117  sscanf(sLine.c_str(), "%f", &fTemp);
118  aJointOffsets.at(0).push_back(fTemp);
119 
120  // distance from second thumb joint to fingertip
121  sLine = GetNextNonCommentLine(sFileStream);
122  sscanf(sLine.c_str(), "%f", &fTemp);
123  aJointOffsets.at(0).push_back(fTemp);
124 
125 
126  // offset from palm to index base
127  sLine = GetNextNonCommentLine(sFileStream);
128  sscanf(sLine.c_str(), "%f %f %f", &vTemp.x, &vTemp.y, &vTemp.z);
129  m_aOffsetsToFingers.push_back(vTemp);
130 
131  // distance from index base joint to second joint
132  sLine = GetNextNonCommentLine(sFileStream);
133  sscanf(sLine.c_str(), "%f", &fTemp);
134  aJointOffsets.at(1).push_back(fTemp);
135 
136  // distance from second index joint to fingertip
137  sLine = GetNextNonCommentLine(sFileStream);
138  sscanf(sLine.c_str(), "%f", &fTemp);
139  aJointOffsets.at(1).push_back(fTemp);
140 
141 
142  // offset from palm to middle base
143  sLine = GetNextNonCommentLine(sFileStream);
144  sscanf(sLine.c_str(), "%f %f %f", &vTemp.x, &vTemp.y, &vTemp.z);
145  m_aOffsetsToFingers.push_back(vTemp);
146 
147  // distance from middle base joint to second joint
148  sLine = GetNextNonCommentLine(sFileStream);
149  sscanf(sLine.c_str(), "%f", &fTemp);
150  aJointOffsets.at(2).push_back(fTemp);
151 
152  // distance from second middle joint to fingertip
153  sLine = GetNextNonCommentLine(sFileStream);
154  sscanf(sLine.c_str(), "%f", &fTemp);
155  aJointOffsets.at(2).push_back(fTemp);
156 
157 
158  // offset from palm to ring base
159  sLine = GetNextNonCommentLine(sFileStream);
160  sscanf(sLine.c_str(), "%f %f %f", &vTemp.x, &vTemp.y, &vTemp.z);
161  m_aOffsetsToFingers.push_back(vTemp);
162 
163  // distance from ring base joint to second joint
164  sLine = GetNextNonCommentLine(sFileStream);
165  sscanf(sLine.c_str(), "%f", &fTemp);
166  aJointOffsets.at(3).push_back(fTemp);
167 
168  // distance from second ring joint to fingertip
169  sLine = GetNextNonCommentLine(sFileStream);
170  sscanf(sLine.c_str(), "%f", &fTemp);
171  aJointOffsets.at(3).push_back(fTemp);
172 
173 
174  // offset from palm to pinky base
175  sLine = GetNextNonCommentLine(sFileStream);
176  sscanf(sLine.c_str(), "%f %f %f", &vTemp.x, &vTemp.y, &vTemp.z);
177  m_aOffsetsToFingers.push_back(vTemp);
178 
179  // distance from pinky base joint to second joint
180  sLine = GetNextNonCommentLine(sFileStream);
181  sscanf(sLine.c_str(), "%f", &fTemp);
182  aJointOffsets.at(4).push_back(fTemp);
183 
184  // distance from second pinky joint to fingertip
185  sLine = GetNextNonCommentLine(sFileStream);
186  sscanf(sLine.c_str(), "%f", &fTemp);
187  aJointOffsets.at(4).push_back(fTemp);
188 
189 
190  // read fingertip points
191 
192  int nNumFingertipPoints;
193  sLine = GetNextNonCommentLine(sFileStream);
194  sscanf(sLine.c_str(), "%d", &nNumFingertipPoints);
195 
196  float fFingerTipOffsetZ;
197  sLine = GetNextNonCommentLine(sFileStream);
198  sscanf(sLine.c_str(), "%f", &fFingerTipOffsetZ);
199 
200 
201  std::vector<Vec3d> aFingertipPoints;
202  sLine = GetNextNonCommentLine(sFileStream);
203  for (int i = 0; i < nNumFingertipPoints; i++)
204  {
205  sscanf(sLine.c_str(), "%f %f %f", &vTemp.x, &vTemp.y, &vTemp.z);
206  vTemp.z += fFingerTipOffsetZ;
207  aFingertipPoints.push_back(vTemp);
208  std::getline(sFileStream, sLine);
209  }
210 
211 
212  // tracking ball
213  sLine = GetNextNonCommentLine(sFileStream);
214  sscanf(sLine.c_str(),
215  "%f %f %f",
216  &m_vTrackingBallOffset.x,
217  &m_vTrackingBallOffset.y,
218  &m_vTrackingBallOffset.z);
219  sLine = GetNextNonCommentLine(sFileStream);
220  sscanf(sLine.c_str(), "%f", &m_fTrackingBallRadius);
221 
222 
223  //****************************************
224  // construct fingers
225  //****************************************
226 
227  // thumb
228  std::vector<Vec3d> aFingertipPointsThumb;
229  aFingertipPointsThumb.resize(nNumFingertipPoints);
230  for (int i = 0; i < nNumFingertipPoints; i++)
231  {
232  Math3d::SetVec(aFingertipPointsThumb.at(i),
233  -aFingertipPoints.at(i).x,
234  aFingertipPoints.at(i).y,
235  aFingertipPoints.at(i).z);
236  }
237  CFinger* pNewFinger = new CFinger(aJointOffsets.at(0), aFingertipPointsThumb);
238  m_aFingers.push_back(pNewFinger);
239 
240  // other fingers
241  for (int i = 1; i <= 4; i++)
242  {
243  pNewFinger = new CFinger(aJointOffsets.at(i), aFingertipPoints);
244  m_aFingers.push_back(pNewFinger);
245  }
246 
247 
248  //****************************************
249  // init variables
250  //****************************************
251 
252  m_aFingerJointsInWorldCS.resize(5);
253  for (int i = 0; i < 5; i++)
254  {
255  m_aFingerJointsInWorldCS.at(i).resize(
256  m_aFingers.at(i)->m_aFingerJointsInFingerBaseCS.size());
257  for (size_t j = 0; j < m_aFingerJointsInWorldCS.at(i).size(); j++)
258  {
259  Math3d::SetVec(m_aFingerJointsInWorldCS.at(i).at(j), Math3d::zero_vec);
260  }
261  }
262 
263  m_aFingerTipCornersInWorldCS.resize(5);
264  for (int i = 0; i < 5; i++)
265  {
266  m_aFingerTipCornersInWorldCS.at(i).resize(
267  m_aFingers.at(i)->m_aFingerTipCornersInFingerBaseCS.size());
268  for (size_t j = 0; j < m_aFingerTipCornersInWorldCS.at(i).size(); j++)
269  {
270  Math3d::SetVec(m_aFingerTipCornersInWorldCS.at(i).at(j), Math3d::zero_vec);
271  }
272  }
273 
274  m_aFingerTipPolygonsLeftCam.resize(5);
275  m_aFingerTipPolygonsRightCam.resize(5);
276 
277  m_fPalmJointAngle = 0;
278  Math3d::SetVec(m_vHandPosition, Math3d::zero_vec);
279  Math3d::SetMat(m_mHandOrientation, Math3d::unit_mat);
280  }
281 
282  std::string
283  CHandModelV2::GetNextNonCommentLine(std::ifstream& sFileStream)
284  {
285  std::string sLine;
286 
287  do
288  {
289  std::getline(sFileStream, sLine);
290  } while (sLine.at(0) == '#');
291 
292  return sLine;
293  }
294 
295  void
296  CHandModelV2::UpdateHand(Vec3d vHandPosition,
297  Mat3d mHandOrientation,
298  float fPalmJointAngle,
299  std::vector<std::vector<float>>& aFingerJointAngles)
300  {
301  Math3d::SetVec(m_vHandPosition, vHandPosition);
302  Math3d::SetMat(m_mHandOrientation, mHandOrientation);
303 
304  m_fPalmJointAngle = fPalmJointAngle;
305 
306  for (size_t i = 0; i < m_aFingers.size(); i++)
307  {
308  m_aFingers.at(i)->UpdateJointAngles(aFingerJointAngles.at(i));
309  }
310 
311  Vec3d vOffsetToFingerBaseRotated, vTemp;
312 
313  // thumb
314  Math3d::MulMatVec(
315  m_mHandOrientation, m_aOffsetsToFingers.at(0), vOffsetToFingerBaseRotated);
316  for (size_t i = 0; i < m_aFingers.at(0)->m_aFingerJointsInFingerBaseCS.size(); i++)
317  {
318  Math3d::MulMatVec(m_mHandOrientation,
319  m_aFingers.at(0)->m_aFingerJointsInFingerBaseCS.at(i),
320  vOffsetToFingerBaseRotated,
321  vTemp);
322  Math3d::AddVecVec(vTemp, m_vHandPosition, m_aFingerJointsInWorldCS.at(0).at(i));
323  }
324  for (size_t i = 0; i < m_aFingers.at(0)->m_aFingerTipCornersInFingerBaseCS.size(); i++)
325  {
326  Math3d::MulMatVec(m_mHandOrientation,
327  m_aFingers.at(0)->m_aFingerTipCornersInFingerBaseCS.at(i),
328  vOffsetToFingerBaseRotated,
329  vTemp);
330  Math3d::AddVecVec(vTemp, m_vHandPosition, m_aFingerTipCornersInWorldCS.at(0).at(i));
331  }
332 
333  // other fingers
334  Mat3d mPalmJointRotation, mAbsoluteRotationAfterPalmJoint;
335  Math3d::SetRotationMatY(mPalmJointRotation, m_fPalmJointAngle);
336  Math3d::MulMatMat(m_mHandOrientation, mPalmJointRotation, mAbsoluteRotationAfterPalmJoint);
337 
338  for (int j = 1; j <= 4; j++)
339  {
340  Math3d::MulMatVec(mAbsoluteRotationAfterPalmJoint,
341  m_aOffsetsToFingers.at(j),
342  vOffsetToFingerBaseRotated);
343  for (size_t i = 0; i < m_aFingers.at(j)->m_aFingerJointsInFingerBaseCS.size(); i++)
344  {
345  Math3d::MulMatVec(mAbsoluteRotationAfterPalmJoint,
346  m_aFingers.at(j)->m_aFingerJointsInFingerBaseCS.at(i),
347  vOffsetToFingerBaseRotated,
348  vTemp);
349  Math3d::AddVecVec(vTemp, m_vHandPosition, m_aFingerJointsInWorldCS.at(j).at(i));
350  }
351 
352  for (size_t i = 0; i < m_aFingers.at(j)->m_aFingerTipCornersInFingerBaseCS.size(); i++)
353  {
354  Math3d::MulMatVec(mAbsoluteRotationAfterPalmJoint,
355  m_aFingers.at(j)->m_aFingerTipCornersInFingerBaseCS.at(i),
356  vOffsetToFingerBaseRotated,
357  vTemp);
358  Math3d::AddVecVec(vTemp, m_vHandPosition, m_aFingerTipCornersInWorldCS.at(j).at(i));
359  }
360  }
361 
362 
363  // project the fingertips and calculate convex polygons
364  CalcProjectedPolygons();
365 
366 
367  // tracking ball
368  Vec3d vTrackingBallPositionInWorldCS;
369  Math3d::MulMatVec(m_mHandOrientation,
370  m_vTrackingBallOffset,
371  m_vHandPosition,
372  vTrackingBallPositionInWorldCS);
373 
374  m_pStereoCalibration->GetLeftCalibration()->WorldToImageCoordinates(
375  vTrackingBallPositionInWorldCS, m_vTrackingBallPosLeftCam, false);
376  float fFocalLengthLeft =
377  0.5f *
378  (m_pStereoCalibration->GetLeftCalibration()->GetCameraParameters().focalLength.x +
379  m_pStereoCalibration->GetLeftCalibration()->GetCameraParameters().focalLength.y);
380  m_fTrackingBallRadiusLeftCam =
381  fFocalLengthLeft * m_fTrackingBallRadius / vTrackingBallPositionInWorldCS.z;
382 
383  m_pStereoCalibration->GetRightCalibration()->WorldToImageCoordinates(
384  vTrackingBallPositionInWorldCS, m_vTrackingBallPosRightCam, false);
385  float fFocalLengthRight =
386  0.5f *
387  (m_pStereoCalibration->GetRightCalibration()->GetCameraParameters().focalLength.x +
388  m_pStereoCalibration->GetRightCalibration()->GetCameraParameters().focalLength.y);
389  m_fTrackingBallRadiusRightCam =
390  fFocalLengthRight * m_fTrackingBallRadius / vTrackingBallPositionInWorldCS.z;
391  }
392 
393  void
394  CHandModelV2::UpdateHand(double* pConfig)
395  {
396  Vec3d vHandPosition = {(float)pConfig[0], (float)pConfig[1], (float)pConfig[2]};
397  Mat3d mHandOrientation;
398  Math3d::SetRotationMat(mHandOrientation, pConfig[3], pConfig[4], pConfig[5]);
399 
400  float fPalmJointAngle = -pConfig[6];
401 
402  std::vector<std::vector<float>> aFingerJointAngles;
403  aFingerJointAngles.resize(5);
404  aFingerJointAngles.at(0).push_back(pConfig[7]);
405  aFingerJointAngles.at(0).push_back(pConfig[8]);
406  aFingerJointAngles.at(1).push_back(-pConfig[9]);
407  aFingerJointAngles.at(1).push_back(-pConfig[9]);
408  aFingerJointAngles.at(2).push_back(-pConfig[10]);
409  aFingerJointAngles.at(2).push_back(-pConfig[10]);
410  aFingerJointAngles.at(3).push_back(-pConfig[11]);
411  aFingerJointAngles.at(3).push_back(-pConfig[11]);
412  aFingerJointAngles.at(4).push_back(-pConfig[11]);
413  aFingerJointAngles.at(4).push_back(-pConfig[11]);
414 
415  UpdateHand(vHandPosition, mHandOrientation, fPalmJointAngle, aFingerJointAngles);
416  }
417 
418  void
419  CHandModelV2::CalcProjectedPolygons()
420  {
421  Vec2d vPos2D;
422 
423  Vec3d* pBuffer1 = new Vec3d[DSHT_MAX_POLYGON_CORNERS + 1];
424  Vec3d* pBuffer2 = new Vec3d[DSHT_MAX_POLYGON_CORNERS + 1];
425 
426  for (int i = 0; i < DSHT_NUM_FINGERS; i++)
427  {
428  Math3d::SetVec(m_aFingerTipPolygonsLeftCam.at(i).center3d, Math3d::zero_vec);
429  Math3d::SetVec(m_aFingerTipPolygonsRightCam.at(i).center3d, Math3d::zero_vec);
430 
431  for (size_t j = 0; j < m_aFingerTipCornersInWorldCS.at(i).size(); j++)
432  {
433  Vec3d& vPoint = m_aFingerTipCornersInWorldCS.at(i).at(j);
434  m_pStereoCalibration->GetLeftCalibration()->WorldToImageCoordinates(
435  vPoint, vPos2D, false);
436  m_aFingerTipPolygonsLeftCam.at(i).hull[j].x = vPos2D.x;
437  m_aFingerTipPolygonsLeftCam.at(i).hull[j].y = vPos2D.y;
438  Math3d::AddToVec(vPoint, m_aFingerTipPolygonsLeftCam.at(i).center3d);
439  m_pStereoCalibration->GetRightCalibration()->WorldToImageCoordinates(
440  vPoint, vPos2D, false);
441  m_aFingerTipPolygonsRightCam.at(i).hull[j].x = vPos2D.x;
442  m_aFingerTipPolygonsRightCam.at(i).hull[j].y = vPos2D.y;
443  Math3d::AddToVec(vPoint, m_aFingerTipPolygonsRightCam.at(i).center3d);
444  }
445 
446  Math3d::MulVecScalar(m_aFingerTipPolygonsLeftCam.at(i).center3d,
447  1.0f / m_aFingerTipCornersInWorldCS.at(i).size(),
448  m_aFingerTipPolygonsLeftCam.at(i).center3d);
449  Math3d::MulVecScalar(m_aFingerTipPolygonsRightCam.at(i).center3d,
450  1.0f / m_aFingerTipCornersInWorldCS.at(i).size(),
451  m_aFingerTipPolygonsRightCam.at(i).center3d);
452 
453  m_aFingerTipPolygonsLeftCam.at(i).nCorners = m_aFingerTipCornersInWorldCS.at(i).size();
454  ConvexPolygonCalculations::CalcConvexHull(
455  &m_aFingerTipPolygonsLeftCam.at(i), pBuffer1, pBuffer2);
456  m_aFingerTipPolygonsRightCam.at(i).nCorners = m_aFingerTipCornersInWorldCS.at(i).size();
457  ConvexPolygonCalculations::CalcConvexHull(
458  &m_aFingerTipPolygonsRightCam.at(i), pBuffer1, pBuffer2);
459  }
460 
461  delete[] pBuffer1;
462  delete[] pBuffer2;
463  }
464 } // namespace visionx
DSHT_MAX_POLYGON_CORNERS
#define DSHT_MAX_POLYGON_CORNERS
Definition: HandLocalisationConstants.h:46
visionx::CHandModelV2::CFinger
Definition: HandModelV2.h:39
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VectorXD< 3, double > Vec3d
Definition: VectorXD.h:737
visionx
ArmarX headers.
Definition: OpenPoseStressTest.h:38
visionx::CHandModelV2::m_fPalmJointAngle
float m_fPalmJointAngle
Definition: HandModelV2.h:96
visionx::CHandModelV2::m_pStereoCalibration
CStereoCalibration * m_pStereoCalibration
Definition: HandModelV2.h:91
visionx::CHandModelV2::m_aFingerTipPolygonsRightCam
std::vector< ConvexPolygonCalculations::Polygon > m_aFingerTipPolygonsRightCam
Definition: HandModelV2.h:77
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constexpr auto n() noexcept
Definition: magic_enum.hpp:418
visionx::CHandModelV2::m_vTrackingBallPosRightCam
Vec2d m_vTrackingBallPosRightCam
Definition: HandModelV2.h:79
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std::vector< CFinger * > m_aFingers
Definition: HandModelV2.h:93
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void UpdateJointAngles(std::vector< float > aNewJointValues)
Definition: HandModelV2.cpp:56
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std::vector< std::vector< Vec3d > > m_aFingerJointsInWorldCS
Definition: HandModelV2.h:70
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Vec3d m_vTrackingBallOffset
Definition: HandModelV2.h:98
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Definition: HandModelV2.h:73
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std::vector< Vec3d > m_aFingerTipCornersInFingerBaseCS
Definition: HandModelV2.h:47
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std::vector< Vec3d > m_aFingerJointsInFingerBaseCS
Definition: HandModelV2.h:49
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Definition: HandModelV2.cpp:283
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Definition: HandModelV2.h:79
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#define ARMARX_WARNING_S
Definition: Logging.h:213
visionx::CHandModelV2::CalcProjectedPolygons
void CalcProjectedPolygons()
Definition: HandModelV2.cpp:419
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Definition: VectorXD.h:736
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Definition: HandModelV2.h:71
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Definition: HandModelV2.h:95
HandModelV2.h
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Definition: HandModelV2.h:80
visionx::CHandModelV2::CFinger::CFinger
CFinger(std::vector< float > aJointOffsets, std::vector< Vec3d > aFingerTipCorners)
Definition: HandModelV2.cpp:34
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Mat3d m_mHandOrientation
Definition: HandModelV2.h:74
float
#define float
Definition: 16_Level.h:22
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float m_fTrackingBallRadius
Definition: HandModelV2.h:99
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#define DSHT_NUM_FINGERS
Definition: HandLocalisationConstants.h:39
visionx::CHandModelV2::m_fTrackingBallRadiusRightCam
float m_fTrackingBallRadiusRightCam
Definition: HandModelV2.h:80
Logging.h
visionx::ConvexPolygonCalculations::CalcConvexHull
void CalcConvexHull(Vec3d *in, int num_all_points, Vec3d *hull_left, int *num_hull_points_left, Vec3d *hull_right, int *num_hull_points_right, Vec3d *temp1, Vec3d *temp2)
Definition: Polygon.cpp:122
visionx::CHandModelV2::UpdateHand
virtual void UpdateHand(double *pConfig)
Definition: HandModelV2.cpp:394
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std::vector< ConvexPolygonCalculations::Polygon > m_aFingerTipPolygonsLeftCam
Definition: HandModelV2.h:76
visionx::CHandModelV2::CHandModelV2
CHandModelV2()
Definition: HandModelV2.h:83