stricter reduction of field of view for nearby objects

source/RobotComponents/components/ViewSelection/ViewSelection.cpp

@@ -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);
                     }
                 }
             }