手部坐标系（operator）
- 左手：掌背x正，指尖指向手腕z正，大拇指指向-y；
- 右手：掌背x正，指尖指向手腕z正，大拇指指向y正。
MANO convention
手腕指向指尖的方向为x正方向，大拇指指向z正方向，掌心朝向y正方向。（右手）
https://github.com/hassony2/manopth
mediapipe
landmarks: https://ai.google.dev/edge/mediapipe/solutions/vision/hand_landmarker
vuer
手部坐标系
- 左手：手背y正，手指指向手腕z正，大拇指指向x正；
- 右手：手背y正；手指指向手腕z正，大拇指指向-x。
web XR landmarks:https://docs.vuer.ai/en/latest/examples/19_hand_tracking.html
using uv install pin:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/workspace/src/dual_ur5_apps/.venv/lib/python3.10/site-packages/cmeel.prefix/lib
单图显示
版本vuer[all]==0.0.56
ImageBackground(
display_image[:],
format="jpeg",
quality=20,
key="head-image",
interpolate=True,
fixed=False, # not fixed with world frame
aspect=ratio, # image width/height
height=1, # image height in XR world frame（unit maybe meter）
distanceToCamera=2, # image distance to headset（your eye/ head camera）, only works with `fixed=False`
)
左右眼分离渲染
版本vuer[all]==0.0.56
session.upsert(
[
ImageBackground(
display_image[::2, : width // 2],
format="jpeg",
quality=80,
key="left-image",
interpolate=True,
fixed=True, # fixed with world frame
aspect=ratio,
height=2, # image height (might be in meter)
position=[0, 0, -3], # position relative to world frame, only works with `fixed=True`
# rotation=[0, 0, 0], # rotation relative to world frame, only works with `fixed=True`
layers=1, # left screen render only
),
ImageBackground(
display_image[::2, width // 2:],
format="jpeg",
quality=80,
key="right-image",
interpolate=True,
fixed=True,
aspect=ratio,
height=2,
position=[0, 0, -3],
# rotation=[0, 0, 0],
layers=2, # right screen render only
),
],
to="bgChildren",
)
meta quest3 adb
sudo apt install android-tools-adb
adb start-server
adb reverse tcp:8012 tcp:8012