def correlate_and_coordinate_transform(
gaze_pos, ref_pos,
intrinsics) -> CorrelatedAndCoordinateTransformedResult:
# reuse closest_matches_monocular to correlate one label to each prediction
# correlated['ref']: prediction, correlated['pupil']: label location
# NOTE the switch of the ref and pupil keys! This effects mostly hmd data.
correlated = closest_matches_monocular(gaze_pos, ref_pos)
# [[pred.x, pred.y, label.x, label.y], ...], shape: n x 4
if not correlated:
raise CorrelationError("No correlation possible")
try:
return Accuracy_Visualizer._coordinate_transform_ref_in_norm_space(
correlated, intrinsics)
except KeyError as err:
if "norm_pos" in err.args:
return Accuracy_Visualizer._coordinate_transform_ref_in_camera_space(
correlated, intrinsics)
else:
raise
def calc_acc_prec_errlines(
g_pool,
gazer_class,
gazer_params,
pupil_list,
ref_list,
intrinsics,
outlier_threshold,
succession_threshold=np.cos(np.deg2rad(0.5)),
):
gazer = gazer_class(g_pool, params=gazer_params)
gaze_pos = gazer.map_pupil_to_gaze(pupil_list)
ref_pos = ref_list
width, height = intrinsics.resolution
# reuse closest_matches_monocular to correlate one label to each prediction
# correlated['ref']: prediction, correlated['pupil']: label location
correlated = closest_matches_monocular(gaze_pos, ref_pos)
# [[pred.x, pred.y, label.x, label.y], ...], shape: n x 4
locations = np.array([(*e["ref"]["norm_pos"], *e["pupil"]["norm_pos"])
for e in correlated])
if locations.size == 0:
accuracy_result = Calculation_Result(0.0, 0, 0)
precision_result = Calculation_Result(0.0, 0, 0)
error_lines = np.array([])
return accuracy_result, precision_result, error_lines
error_lines = locations.copy() # n x 4
locations[:, ::2] *= width
locations[:, 1::2] = (1.0 - locations[:, 1::2]) * height
locations.shape = -1, 2
# Accuracy is calculated as the average angular
# offset (distance) (in degrees of visual angle)
# between fixations locations and the corresponding
# locations of the fixation targets.
undistorted_3d = intrinsics.unprojectPoints(locations, normalize=True)
# Cosine distance of A and B: (A @ B) / (||A|| * ||B||)
# No need to calculate norms, since A and B are normalized in our case.
# np.einsum('ij,ij->i', A, B) equivalent to np.diagonal(A @ B.T) but faster.
angular_err = np.einsum("ij,ij->i", undistorted_3d[::2, :],
undistorted_3d[1::2, :])
# Good values are close to 1. since cos(0) == 1.
# Therefore we look for values greater than cos(outlier_threshold)
selected_indices = angular_err > np.cos(np.deg2rad(outlier_threshold))
selected_samples = angular_err[selected_indices]
num_used, num_total = selected_samples.shape[0], angular_err.shape[0]
error_lines = error_lines[selected_indices].reshape(
-1, 2) # shape: num_used x 2
accuracy = np.rad2deg(
np.arccos(selected_samples.clip(-1.0, 1.0).mean()))
accuracy_result = Calculation_Result(accuracy, num_used, num_total)
# lets calculate precision: (RMS of distance of succesive samples.)
# This is a little rough as we do not compensate headmovements in this test.
# Precision is calculated as the Root Mean Square (RMS)
# of the angular distance (in degrees of visual angle)
# between successive samples during a fixation
undistorted_3d.shape = -1, 6 # shape: n x 6
succesive_distances_gaze = np.einsum("ij,ij->i",
undistorted_3d[:-1, :3],
undistorted_3d[1:, :3])
succesive_distances_ref = np.einsum("ij,ij->i", undistorted_3d[:-1,
3:],
undistorted_3d[1:, 3:])
# if the ref distance is to big we must have moved to a new fixation or there is headmovement,
# if the gaze dis is to big we can assume human error
# both times gaze data is not valid for this mesurement
selected_indices = np.logical_and(
succesive_distances_gaze > succession_threshold,
succesive_distances_ref > succession_threshold,
)
succesive_distances = succesive_distances_gaze[selected_indices]
num_used, num_total = (
succesive_distances.shape[0],
succesive_distances_gaze.shape[0],
)
precision = np.sqrt(
np.mean(
np.rad2deg(np.arccos(succesive_distances.clip(-1.0, 1.0)))**2))
precision_result = Calculation_Result(precision, num_used, num_total)
return accuracy_result, precision_result, error_lines