public Vector2 Predict(PoseAndEyeAndFace data)
{
var camera = new CoordinateSystem();
var displayNormRealign = UnitVector3D.YAxis;
var displayXPositiveRealign = UnitVector3D.XAxis;
var refHeadPositionRaw = Point3D.Centroid(Samples.Select(r => r.HeadPose.Position).Select(r => r.ToMathNetPoint3D()));
var refHeadPosition = ConvertPointFromOpenFaceSpaceToMathNetSpace(refHeadPositionRaw);
var refHeadRotationRaw = Point3D.Centroid(Samples.Select(r => r.HeadPose.Angle).Select(r => r.ToMathNetPoint3D()));
var refHeadRotation = ConvertAngelFromOpenFaceSpaceToMathNetSpace(refHeadRotationRaw);
var refHeadRotationCoord = camera
.RotateCoordSysAroundVector(UnitVector3D.XAxis, Angle.FromRadians(refHeadRotation.X))
.RotateCoordSysAroundVector(UnitVector3D.ZAxis, Angle.FromRadians(refHeadRotation.Z))
.RotateCoordSysAroundVector(UnitVector3D.YAxis, Angle.FromRadians(refHeadRotation.Y));
var refHeadRotationAlign = CoordinateSystem.CreateMappingCoordinateSystem(camera, refHeadRotationCoord);
var refHeadRotationUnalign = CoordinateSystem.CreateMappingCoordinateSystem(refHeadRotationCoord, camera);
var displayWidth = HeadDisplayDistance * Tan(FieldOfViewWidthSingleSideAngle) * 2;
var displayHeight = displayWidth / DisplayAspectRatio;
var displaySize = new Vector2D(displayWidth, displayHeight);
var refDisplayNorm = displayNormRealign.TransformBy(refHeadRotationUnalign).Normalize();
var refDisplayXPositive = displayXPositiveRealign.TransformBy(refHeadRotationUnalign).Normalize();
var refDisplayCentroid = refHeadPosition + HeadDisplayDistance * refDisplayNorm;
var refDisplayPlane = new MathNet.Spatial.Euclidean.Plane(refDisplayCentroid, refDisplayNorm);
var headPosition = ConvertPointFromOpenFaceSpaceToMathNetSpace(data.Pose.Position.ToMathNetPoint3D());
var headRotation = ConvertAngelFromOpenFaceSpaceToMathNetSpace(data.Pose.Angle.ToMathNetPoint3D());
var headRotationCoord = camera
.RotateCoordSysAroundVector(UnitVector3D.XAxis, Angle.FromRadians(headRotation.X))
.RotateCoordSysAroundVector(UnitVector3D.ZAxis, Angle.FromRadians(headRotation.Z))
.RotateCoordSysAroundVector(UnitVector3D.YAxis, Angle.FromRadians(headRotation.Y));
var headRotationAlign = CoordinateSystem.CreateMappingCoordinateSystem(camera, headRotationCoord);
var headRotationUnalign = CoordinateSystem.CreateMappingCoordinateSystem(headRotationCoord, camera);
var displayNorm = displayNormRealign.TransformBy(headRotationUnalign).Normalize();
var displayXPositive = displayXPositiveRealign.TransformBy(headRotationUnalign).Normalize();
var displayCentroid = headPosition + HeadDisplayDistance * displayNorm;
var displayPlane = new MathNet.Spatial.Euclidean.Plane(displayCentroid, displayNorm);
var calibPoints = Samples.Select(r => CalibPointOnDisplay(displayCentroid, displayNorm, displayXPositive, displaySize, r.Display.ToMathNetPoint2D())).ToArray();
var calibRays = calibPoints.Select(p => new Ray3D(headPosition, p - headPosition)).ToArray();
var transformedCalibPoints = calibRays.Select(r => (Point3D)r.IntersectionWith(refDisplayPlane)).ToArray();
var transformedRelatives = transformedCalibPoints.Select(p => RelativeToDisplay(refDisplayCentroid, refDisplayNorm, refDisplayXPositive, displaySize, p)).ToArray();
var pupilDistances = Samples.Select(r => PupilCornerDistance(r.Gaze, r.HeadPose)).ToArray();
var inputX = pupilDistances.Select(d => d.X).ToArray();
var outputX = transformedRelatives.Select(p => p.X).ToArray();
var polynomialX = Polynomial.Fit(inputX, outputX, Order);
var inputY = pupilDistances.Select(d => d.Y).ToArray();
var outputY = transformedRelatives.Select(p => p.Y).ToArray();
var polynomialY = Polynomial.Fit(inputY, outputY, Order);
var distance = PupilCornerDistance(data.Eye, data.Pose);
var x = polynomialX.Evaluate(distance.X);
var y = polynomialY.Evaluate(distance.Y);
return(new Vector2((float)x, (float)y));
}
public Vector2 Predict(PoseAndEyeAndFace data)
{
var record = new RegressionRecord(data);
var predX = predictorX.Predict(record);
var predY = predictorY.Predict(record);
return(new Vector2(predX.Value, predY.Value));
}
public GazeToDisplayCoordinateMappingRecord(PoseAndEyeAndFace headPoseAndGaze, Vector2 display) : this(headPoseAndGaze.Eye, headPoseAndGaze.Pose, headPoseAndGaze.Face, display)
{
}