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robotology / assistive-rehab

Assistive and Rehabilitative Robotics
https://robotology.github.io/assistive-rehab/doc/mkdocs/site
BSD 3-Clause "New" or "Revised" License
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Extend the lib to include pixels information #169

Closed pattacini closed 5 years ago

pattacini commented 5 years ago

From #166 it turns out that it might be beneficial for gaze tracking purposes to extend the lib and include pixels information along with 3D coordinates in the camera frame.

This way, the transformation of the target 3D point from the camera to the root frame - which relies on the reading from the gaze state port - is no longer needed since we can then use pixels as inputs.

As a result, we should be able to increase control bandwidth.

Once the lib will be extended, we need to update attentionManager and test-tracker. The latter test can be employed to measure the gain we might obtain.

cc @vvasco @randaz81 @valegagge

pattacini commented 5 years ago

We experienced quite an improvement once the pixel is used for gaze tracking.

pattacini commented 5 years ago

@valegagge the PR's been merged, hence you could think of relying on the pixel information to issue tracking.

Just a couple of references as to do it:

https://github.com/robotology/assistive-rehab/blob/f72f03d9ef2a89fa955a6bd823f0ccc19d50c943/tests/test-tracker.cpp#L85

https://github.com/robotology/assistive-rehab/blob/f72f03d9ef2a89fa955a6bd823f0ccc19d50c943/tests/test-tracker.cpp#L106-L123

valegagge commented 5 years ago

@pattacini thanks very much