From ccbb1a591184c31ec7f0b61e920582b4bafa9aac Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 14 Sep 2022 17:32:31 +0200
Subject: Fixing accuracy computing and cone vision definition.

---
 src/argaze/utils/export_tobii_segment_aruco_visual_scan.py | 13 ++++++++-----
 src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py    | 11 +++++++----
 2 files changed, 15 insertions(+), 9 deletions(-)

(limited to 'src')

diff --git a/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py b/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py
index 2adf773..4825c9e 100644
--- a/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py
+++ b/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py
@@ -191,6 +191,7 @@ def main():
         tobii_accuracy = 1.42 # degree
         tobii_precision = 0.34 # degree
         tobii_camera_hfov = 82 # degree
+        tobii_visual_hfov = 160 # degree
 
         # Video and data replay loop
         try:
@@ -223,8 +224,8 @@ def main():
 
                         gaze_position_pixel = (int(nearest_gaze_position.value[0] * video_frame.width), int(nearest_gaze_position.value[1] * video_frame.height))
 
-                        gaze_accuracy_mm = numpy.sin(numpy.deg2rad(tobii_accuracy)) * nearest_gaze_position_3d.value[2]
-                        tobii_camera_hfov_mm = numpy.sin(numpy.deg2rad(tobii_camera_hfov)) * nearest_gaze_position_3d.value[2]
+                        gaze_accuracy_mm = numpy.tan(numpy.deg2rad(tobii_accuracy)) * nearest_gaze_position_3d.value[2]
+                        tobii_camera_hfov_mm = numpy.tan(numpy.deg2rad(tobii_camera_hfov / 2)) * nearest_gaze_position_3d.value[2]
                         gaze_accuracy_pixel = round(video_frame.width * float(gaze_accuracy_mm) / float(tobii_camera_hfov_mm))
 
                         # Draw gaze position and accuracy
@@ -259,7 +260,7 @@ def main():
                     for (i, marker_id) in enumerate(aruco_tracker.get_markers_ids()):
 
                         # Copy 3D scene related to detected marker
-                        aoi3D_scene = aoi3D_scene_selector(marker_id).copy()
+                        aoi3D_scene = aoi3D_scene_selector(marker_id)
                         
                         if aoi3D_scene == None:
                             continue
@@ -275,8 +276,10 @@ def main():
                         aoi3D_camera = aoi3D_scene.transform(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i))
 
                         # Get aoi inside vision cone field 
-                        # The vision cone tip is positionned behind the head
-                        aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(300, 150, cone_tip=[0., 0., -20.])
+                        cone_vision_height_cm = nearest_gaze_position_3d.value[2]/10 # cm
+                        cone_vision_radius_cm = numpy.tan(numpy.deg2rad(tobii_visual_hfov / 2)) * cone_vision_height_cm
+
+                        aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(cone_vision_radius_cm, cone_vision_height_cm)
 
                         # Keep only aoi inside vision cone field
                         aoi3D_scene = aoi3D_scene.copy(exclude=aoi3D_outside.keys())
diff --git a/src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py b/src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py
index cba466b..1ab02e4 100644
--- a/src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py
+++ b/src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py
@@ -84,6 +84,7 @@ def main():
     tobii_accuracy = 1.42 # degree
     tobii_precision = 0.34 # degree
     tobii_camera_hfov = 82 # degree
+    tobii_visual_hfov = 160 # degree
 
     # Start streaming
     tobii_controller.start_streaming()
@@ -120,8 +121,8 @@ def main():
 
                     gaze_position_pixel = (int(nearest_gaze_position.value[0] * video_frame.width), int(nearest_gaze_position.value[1] * video_frame.height))
 
-                    gaze_accuracy_mm = numpy.sin(numpy.deg2rad(tobii_accuracy)) * nearest_gaze_position_3d.value[2]
-                    tobii_camera_hfov_mm = numpy.sin(numpy.deg2rad(tobii_camera_hfov)) * nearest_gaze_position_3d.value[2]
+                    gaze_accuracy_mm = numpy.tan(numpy.deg2rad(tobii_accuracy)) * nearest_gaze_position_3d.value[2]
+                    tobii_camera_hfov_mm = numpy.tan(numpy.deg2rad(tobii_camera_hfov / 2)) * nearest_gaze_position_3d.value[2]
                     gaze_accuracy_pixel = round(video_frame.width * float(gaze_accuracy_mm) / float(tobii_camera_hfov_mm))
 
                     # Draw gaze position and accuracy
@@ -168,8 +169,10 @@ def main():
                     aoi3D_camera = aoi3D_scene.transform(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i))
 
                     # Get aoi inside vision cone field 
-                    # The vision cone tip is positionned behind the head
-                    aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(300, 150, cone_tip=[0., 0., -20.])
+                    cone_vision_height_cm = nearest_gaze_position_3d.value[2]/10 # cm
+                    cone_vision_radius_cm = numpy.tan(numpy.deg2rad(tobii_visual_hfov / 2)) * cone_vision_height_cm
+
+                    aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(cone_vision_radius_cm, cone_vision_height_cm)
 
                     # Keep only aoi inside vision cone field
                     aoi3D_scene = aoi3D_scene.copy(exclude=aoi3D_outside.keys())
-- 
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