Fix bug in Edge Duo mode when using the same image when inferring the…

… landmarks of the 2 hands (the same image wasn't used when it should)
geaxgx · May 15, 2022 · 87111c1 · 87111c1
1 parent c803ad3
commit 87111c1
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Showing 6 changed files with 11 additions and 10 deletions.
diff --git a/HandTracker.py b/HandTracker.py
@@ -658,4 +658,4 @@ def exit(self):
                 if self.use_lm and self.nb_lm_inferences:
                     print(f"Hand landmark round trip             : {self.glob_lm_rtrip_time/self.nb_lm_inferences*1000:.1f} ms")
             if self.xyz:
-                print(f"Spatial location requests round trip : {self.glob_spatial_rtrip_time/self.nb_anchors*1000:.1f} ms")           
+                print(f"Spatial location requests round trip : {self.glob_spatial_rtrip_time/self.nb_spatial_requests*1000:.1f} ms")           
diff --git a/HandTrackerBpf.py b/HandTrackerBpf.py
@@ -844,4 +844,4 @@ def exit(self):
                 if self.use_lm and self.nb_lm_inferences:
                     print(f"Hand landmark round trip             : {self.glob_lm_rtrip_time/self.nb_frames_lm_inference*1000:.1f} ms")
             if self.xyz:
-                print(f"Spatial location requests round trip : {self.glob_spatial_rtrip_time/self.nb_anchors*1000:.1f} ms")           
+                print(f"Spatial location requests round trip : {self.glob_spatial_rtrip_time/self.nb_spatial_requests*1000:.1f} ms")           
diff --git a/template_manager_script_bpf_duo.py b/template_manager_script_bpf_duo.py
@@ -356,6 +356,7 @@ def normalize_radians(angle):
 
 nb_hands_in_previous_frame = 0
 detected_hands = []
+reuse_prev_image = False
 
 while True:
 
@@ -479,11 +480,13 @@ def normalize_radians(angle):
         cfg.setCropRotatedRect(rr, True)
         cfg.setResize(lm_input_size, lm_input_size)
         ${_IF_USE_SAME_IMAGE}
-        cfg.setReusePreviousImage(False if i == last_hand else True)
+        reuse_prev_image = True if len(detected_hands) > 1 and i == last_hand else False
+        cfg.setReusePreviousImage(reuse_prev_image)
         ${_IF_USE_SAME_IMAGE}
         node.io['pre_lm_manip_cfg'].send(cfg)
         nb_lm_inf += 1
-        ${_TRACE2} ("Manager sent config to pre_lm manip")
+        ${_TRACE2} (f"Manager sent config to pre_lm manip (reuse previous frame = {reuse_prev_image})")
+
 
     hand_landmarks = dict([("lm_score", []), ("handedness", []), ("rotation", []),
                      ("rect_center_x", []), ("rect_center_y", []), ("rect_size", []), ("rrn_lms", []), ('sqn_lms', []),
@@ -519,7 +522,6 @@ def normalize_radians(angle):
             xyz_zone = 0
             # Query xyz
             ${_IF_XYZ}
-            cfg = SpatialLocationCalculatorConfig()
             conf_data = SpatialLocationCalculatorConfigData()
             conf_data.depthThresholds.lowerThreshold = 100
             conf_data.depthThresholds.upperThreshold = 10000

diff --git a/template_manager_script_bpf_solo.py b/template_manager_script_bpf_solo.py
@@ -498,7 +498,6 @@ def normalize_radians(angle):
         xyz_zone = 0
         # Query xyz
         ${_IF_XYZ}
-        cfg = SpatialLocationCalculatorConfig()
         conf_data = SpatialLocationCalculatorConfigData()
         conf_data.depthThresholds.lowerThreshold = 100
         conf_data.depthThresholds.upperThreshold = 10000

diff --git a/template_manager_script_duo.py b/template_manager_script_duo.py
@@ -105,6 +105,7 @@ def normalize_radians(angle):
 
 detected_hands = []
 
+reuse_prev_image = False
 
 
 while True:
@@ -165,11 +166,12 @@ def normalize_radians(angle):
         cfg.setCropRotatedRect(rr, True)
         cfg.setResize(lm_input_size, lm_input_size)
         ${_IF_USE_SAME_IMAGE}
-        cfg.setReusePreviousImage(False if i == last_hand else True)
+        reuse_prev_image = True if len(detected_hands) > 1 and i == last_hand else False
+        cfg.setReusePreviousImage(reuse_prev_image)
         ${_IF_USE_SAME_IMAGE}
         node.io['pre_lm_manip_cfg'].send(cfg)
         nb_lm_inf += 1
-        ${_TRACE2} ("Manager sent config to pre_lm manip")
+        ${_TRACE2} (f"Manager sent config to pre_lm manip (reuse previous frame = {reuse_prev_image})")
 
     hand_landmarks = dict([("lm_score", []), ("handedness", []), ("rotation", []),
                      ("rect_center_x", []), ("rect_center_y", []), ("rect_size", []), ("rrn_lms", []), ('sqn_lms', []),
@@ -207,7 +209,6 @@ def normalize_radians(angle):
             xyz_zone = 0
             # Query xyz
             ${_IF_XYZ}
-            cfg = SpatialLocationCalculatorConfig()
             conf_data = SpatialLocationCalculatorConfigData()
             conf_data.depthThresholds.lowerThreshold = 100
             conf_data.depthThresholds.upperThreshold = 10000

diff --git a/template_manager_script_solo.py b/template_manager_script_solo.py
@@ -173,7 +173,6 @@ def normalize_radians(angle):
         xyz_zone = 0
         # Query xyz
         ${_IF_XYZ}
-        cfg = SpatialLocationCalculatorConfig()
         conf_data = SpatialLocationCalculatorConfigData()
         conf_data.depthThresholds.lowerThreshold = 100
         conf_data.depthThresholds.upperThreshold = 10000