vuer-ai / vuer

Vuer is a 3D visualization tool for robotics and VR applications.
https://docs.vuer.ai
MIT License
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Quest3 Hand tracking issue #18

Open csjiyw opened 4 months ago

csjiyw commented 4 months ago

I run the script teleop/teleop_hand.py [https://github.com/OpenTeleVision/TeleVision] It use vuer for hand tracking. the device is meta quest3.

async def on_hand_move(self, event, session, fps=60):
    try:
        self.left_hand_shared[:] = event.value["leftHand"]
        self.right_hand_shared[:] = event.value["rightHand"]
        self.left_landmarks_shared[:] = np.array(event.value["leftLandmarks"]).flatten()
        self.right_landmarks_shared[:] = np.array(event.value["rightLandmarks"]).flatten()
    except:
        pass

while right hand not in tracking, the value of event.value["rightHand"] will be unstable

geyang commented 2 months ago

@csjiyw This seems to be a user-land issue. Before I get into the details, here are some updates on the Hand API

Explanations of behavior

When landmarks associated with a hand is not visible, the headset has built-in mechanism for inferring what they are.

We use the WRIST joint's isEmulated attribute to infer if the hand is out of view. If it is, I remove the hand pose from the message data and hide the hand visual component from view.

If other joints are emulated, I do not remove them. You can see Quest's hand pose estimation at play when a finger is occluded.

btw, @chengxuxin did you run into these issue?