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Commit 4bae3ce1 authored by David Schiebener's avatar David Schiebener
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stricter reduction of field of view for nearby objects

parent 6d0d4af3
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......@@ -292,7 +292,7 @@ void ViewSelection::process()
else
{
ARMARX_DEBUG << "There are no requested objects that were not localized yet. requestedObjectClasses.size() = " << requestedObjectClasses.size()
<< ", objectInstances.size() = " << objectInstances.size();// << ", difference.size() = " << difference.size();
<< ", objectInstances.size() = " << objectInstances.size();// << ", difference.size() = " << difference.size();
setRandomNoise(centralHeadTiltAngle, 1.0f);
}
}
......@@ -321,18 +321,19 @@ void ViewSelection::process()
if (saliency > 0)
{
// close objects get a smaller visibility angle to avoid problems due to the head being positioned unfortunately
float modifiedHalfCameraOpeingAngle = halfCameraOpeningAngle;
float modifiedHalfCameraOpeningAngle = halfCameraOpeningAngle;
float objDist = position->toEigen().norm();
float shortDistance = 0.33f * maxObjectDistance;
float shortDistance = 0.5f * maxObjectDistance;
if (objDist < shortDistance)
{
modifiedHalfCameraOpeingAngle = objDist / (shortDistance) * halfCameraOpeningAngle;
modifiedHalfCameraOpeningAngle = (objDist - 0.1f * shortDistance) / (0.9f * shortDistance) * halfCameraOpeningAngle;
modifiedHalfCameraOpeningAngle = std::max(0.0f, modifiedHalfCameraOpeningAngle);
}
TSphereCoord positionInSphereCoordinates;
MathTools::convert(position->toEigen() - offsetToHeadCenter, positionInSphereCoordinates);
int closestNodeIndex = graphLookupTable->getClosestNode(positionInSphereCoordinates);
addSaliencyRecursive(closestNodeIndex, saliency, positionInSphereCoordinates, i, modifiedHalfCameraOpeingAngle);
addSaliencyRecursive(closestNodeIndex, saliency, positionInSphereCoordinates, i, modifiedHalfCameraOpeningAngle);
}
}
}
......
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