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Tobias-Fischer / rt_gene

RT-GENE: Real-Time Eye Gaze and Blink Estimation in Natural Environments
http://www.imperial.ac.uk/personal-robotics
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Change tf lookup to matrix multiplication #50

Closed Tobias-Fischer closed 4 years ago

Tobias-Fischer commented 4 years ago

Change ROS script to use same logic as in standalone script, following https://github.com/Tobias-Fischer/rt_gene/commit/896845dfce4e8bd131661fc0a12c8071c29cf9aa

Tobias-Fischer commented 4 years ago

I think this can be done even nicer. At the moment, we still use the ros_tf_frame: https://github.com/Tobias-Fischer/rt_gene/blob/master/rt_gene/scripts/estimate_gaze.py#L79

In the standalone version, we can do without: https://github.com/Tobias-Fischer/rt_gene/blob/master/rt_gene/scripts/estimate_gaze_standalone.py#L72-L85

If we do the same in the ROS version, we can completely get rid of the ros_tf_frame - it is not being used anymore in the landmark extraction thanks to https://github.com/Tobias-Fischer/rt_gene/commit/896845dfce4e8bd131661fc0a12c8071c29cf9aa so the occurrence in estimate_gaze.py is the last one.

Low priority though ..