Updated refraction correction models

.gitignore

@@ -216,3 +216,4 @@ Temporary Items
 .apdisk
 
 # End of https://www.toptal.com/developers/gitignore/api/macos
+test_models/

pytest.ini

@@ -0,0 +1,3 @@
+[pytest]
+log_cli=true
+log_level=20

tests/integration/test_synthetic_metrics.py

@@ -1,16 +1,16 @@
-from pye3d.detector_3d import CameraModel
-from pye3d.detector_3d import Detector3D as Pye3D
-from pye3d.detector_3d import DetectorMode
-
+import logging
 import math
+
 import numpy as np
 import pandas as pd
+import pytest
 import skimage.measure as skmeas
+from pye3d.detector_3d import CameraModel
+from pye3d.detector_3d import Detector3D as Pye3D
+from pye3d.detector_3d import DetectorMode
 
-import pytest
 from .utils import abs_diff, input_dir, output_dir, remove_file
 
-
 # Define all input files
 INPUT_PATH = input_dir().joinpath("pye3d_test_input.npz")
 
@@ -30,6 +30,12 @@
 OUTPUT_GAZE_ANGLE_THETA_PLOT_PATH = output_dir().joinpath(
     "pye3d_test_gaze_angle_theta_plot.png"
 )
+OUTPUT_GAZE_ANGLE_VECTOR_PLOT_PATH = output_dir().joinpath(
+    "pye3d_test_gaze_angle_vector_plot.png"
+)
+OUTPUT_GAZE_ANGLE_ERROR_BY_INPUT_ORIENTATION_PLOT_PATH = output_dir().joinpath(
+    "pye3d_test_gaze_angle_error_by_input_orientation_plot.png"
+)
 OUTPUT_EYE_CENTER_3D_PLOT_PATH = output_dir().joinpath(
     "pye3d_test_eye_center_3d_error_plot.png"
 )
@@ -75,6 +81,7 @@ def test_datum_component_phi(dataset, convergence_time):
         ylabel="[°]",
         ylim=(gaze_angle_phi_gr_mean - 55, gaze_angle_phi_gr_mean + 55),
         v_threshold=convergence_time,
+        v_threshold_label=f"convergence time = {convergence_time} seconds",
         # Image Path
         path=OUTPUT_GAZE_ANGLE_PHI_PLOT_PATH,
     )
@@ -112,6 +119,7 @@ def test_datum_component_theta(dataset, convergence_time):
         ylabel="[°]",
         ylim=(gaze_angle_theta_gr_mean - 55, gaze_angle_theta_gr_mean + 55),
         v_threshold=convergence_time,
+        v_threshold_label=f"convergence time = {convergence_time} seconds",
         # Image Path
         path=OUTPUT_GAZE_ANGLE_THETA_PLOT_PATH,
     )
@@ -149,6 +157,7 @@ def test_pupil_radius(dataset, convergence_time):
         ylabel="[mm]",
         ylim=(0, 5),
         v_threshold=convergence_time,
+        v_threshold_label=f"convergence time = {convergence_time} seconds",
         # Image Path
         path=OUTPUT_PUPIL_RADIUS_PLOT_PATH,
     )
@@ -157,14 +166,17 @@ def test_pupil_radius(dataset, convergence_time):
         ax=gr_df["timestamp"],
         ay=pupil_radius_error,
         a_color="r",
+        a_label="pupil radius error",
         # Legend
         figsize=(10, 4),
         title="pupil radius error\n",
         xlabel="time [s]",
         ylabel="[mm]",
         ylim=(0, 1),
         h_threshold=PUPIL_RADIUS_EPS,
+        h_threshold_label=f"pupil radius eps = {PUPIL_RADIUS_EPS} mm",
         v_threshold=convergence_time,
+        v_threshold_label=f"convergence time = {convergence_time} seconds",
         # Image Path
         path=OUTPUT_PUPIL_RADIUS_ERROR_PLOT_PATH,
     )
@@ -181,14 +193,17 @@ def test_eye_center_3d(dataset, convergence_time, eye_center_3d_errors):
         ax=gr_df["timestamp"],
         ay=eye_center_3d_errors,
         a_color="r",
+        a_label="eye center 3d errors",
         # Legend
         figsize=(10, 4),
         title="eye center 3d error\n",
         xlabel="time [s]",
         ylabel="[mm]",
         ylim=(0, 5),
         h_threshold=EYE_CENTER_3D_EPS,
+        h_threshold_label=f"eye center eps = {EYE_CENTER_3D_EPS} mm",
         v_threshold=convergence_time,
+        v_threshold_label=f"convergence time = {convergence_time} seconds",
         # Image Path
         path=OUTPUT_EYE_CENTER_3D_PLOT_PATH,
     )
@@ -217,18 +232,47 @@ def test_gaze_angle(dataset, convergence_time):
         a_color="r",
         # Legend
         figsize=(10, 4),
-        title="eye center 3d error\n",
+        title="gaze angle error over time",
         xlabel="time [s]",
-        ylabel="[mm]",
+        ylabel="[°]",
         ylim=(0, 5),
         h_threshold=GAZE_ANGLE_EPS,
+        h_threshold_label=f"gaze angle eps = {GAZE_ANGLE_EPS} deg",
         v_threshold=convergence_time,
+        v_threshold_label=f"convergence time = {convergence_time} seconds",
         # Image Path
-        path=OUTPUT_EYE_CENTER_3D_PLOT_PATH,
+        path=OUTPUT_GAZE_ANGLE_VECTOR_PLOT_PATH,
     )
 
     gaze_angle_error = gaze_angle_error[gr_df["timestamp"] > convergence_time]
 
+    input_phi = gt_df.loc[gr_df["timestamp"] > convergence_time, "phi"]
+    input_phi = np.rad2deg(input_phi) + 90.0
+
+    input_theta = gt_df.loc[gr_df["timestamp"] > convergence_time, "theta"]
+    input_theta = np.rad2deg(input_theta) - 90.0
+
+    save_plot(
+        ax=input_phi,
+        ay=gaze_angle_error,
+        a_label="phi",
+        a_color="C0",
+        bx=input_theta,
+        by=gaze_angle_error,
+        b_label="theta",
+        b_color="C1",
+        # Legend
+        figsize=(10, 4),
+        title="gaze angle error by input orientation (after convergence)",
+        xlabel="centered ground truth input orientation [°]",
+        ylabel="gaze angle error [°]",
+        ylim=(0, 3),
+        h_threshold=GAZE_ANGLE_EPS,
+        h_threshold_label=f"gaze angle eps = {GAZE_ANGLE_EPS} deg",
+        # Image Path
+        path=OUTPUT_GAZE_ANGLE_ERROR_BY_INPUT_ORIENTATION_PLOT_PATH,
+    )
+
     assert np.all(gaze_angle_error <= GAZE_ANGLE_EPS)  # TODO: Add description
 
 
@@ -239,6 +283,7 @@ def convergence_time(dataset, eye_center_3d_errors):
     eye_center_3d_convergence = eye_center_3d_errors > EYE_CENTER_3D_EPS
     convergence_index = -np.argwhere(eye_center_3d_convergence[::-1])[0][0] - 1
     convergence_time = gt_df.timestamp.iloc[convergence_index]
+    logging.getLogger().info(f"Calculated convergence time: {convergence_time} seconds")
 
     return convergence_time
 
@@ -456,7 +501,9 @@ def save_plot(
     a_color="b",
     b_color="g",
     h_threshold=None,
+    h_threshold_label="",
     v_threshold=None,
+    v_threshold_label="",
     figsize=(10, 4),
     xlabel="",
     ylabel="",
@@ -472,17 +519,25 @@ def save_plot(
         axis.plot(bx, by, b_color, alpha=1, label=b_label)
 
     if h_threshold:
-        xlim_lo = min(
-            map(lambda x: x.iloc[0], filter(lambda x: x is not None, [ax, bx]))
-        )
-        xlim_hi = max(
-            map(lambda x: x.iloc[-1], filter(lambda x: x is not None, [ax, bx]))
-        )
+        xlim_lo = min(map(lambda x: x.min(), filter(lambda x: x is not None, [ax, bx])))
+        xlim_hi = max(map(lambda x: x.max(), filter(lambda x: x is not None, [ax, bx])))
         xlim = xlim_lo, xlim_hi
-        axis.hlines([h_threshold], *xlim, colors="C2", linestyles="dashed")
+        axis.hlines(
+            [h_threshold],
+            *xlim,
+            colors="C2",
+            linestyles="dashed",
+            label=h_threshold_label,
+        )
 
     if v_threshold:
-        axis.vlines([v_threshold], *ylim, colors="C4", linestyles="dashed")
+        axis.vlines(
+            [v_threshold],
+            *ylim,
+            colors="C4",
+            linestyles="dashed",
+            label=v_threshold_label,
+        )
 
     axis.set_ylim(*ylim)