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#include "mediapipe/calculators/ims/gaze_estimation_calculator.h"
#include "mediapipe/framework/port/logging.h"
namespace mediapipe {
using mediapipe::NormalizedLandmarkList;
using mediapipe::NormalizedLandmark;
absl::Status GazeEstimationCalculator::GetContract(CalculatorContract* cc) {
cc->Inputs().Tag("LANDMARKS").Set<NormalizedLandmarkList>();
cc->Outputs().Tag("GAZE_VECTOR").Set<GazeVector>();
cc->Outputs().Tag("LEFT_GAZE").Set<GazeVector>();
cc->Outputs().Tag("RIGHT_GAZE").Set<GazeVector>();
cc->Options<GazeEstimationOptions>();
return absl::OkStatus();
}
absl::Status GazeEstimationCalculator::Open(CalculatorContext* cc) {
const auto& options = cc->Options<GazeEstimationOptions>();
left_iris_center_ = options.left_iris_center();
right_iris_center_ = options.right_iris_center();
left_eye_outer_ = options.left_eye_outer();
left_eye_inner_ = options.left_eye_inner();
right_eye_outer_ = options.right_eye_outer();
right_eye_inner_ = options.right_eye_inner();
LOG(INFO) << "GazeEstimationCalculator initialized";
return absl::OkStatus();
}
absl::Status GazeEstimationCalculator::Process(CalculatorContext* cc) {
if (cc->Inputs().Tag("LANDMARKS").IsEmpty()) {
return absl::OkStatus();
}
const auto& landmarks = cc->Inputs().Tag("LANDMARKS").Get<NormalizedLandmarkList>();
if (landmarks.landmark_size() < 478) {
LOG(WARNING) << "Insufficient landmarks for iris detection";
return absl::OkStatus();
}
GazeVector left_gaze = CalculateEyeGaze(
landmarks,
left_iris_center_,
left_eye_outer_,
left_eye_inner_,
159,
145
);
GazeVector right_gaze = CalculateEyeGaze(
landmarks,
right_iris_center_,
right_eye_outer_,
right_eye_inner_,
386,
374
);
GazeVector avg_gaze;
avg_gaze.x = (left_gaze.x + right_gaze.x) / 2.0f;
avg_gaze.y = (left_gaze.y + right_gaze.y) / 2.0f;
avg_gaze.confidence = (left_gaze.confidence + right_gaze.confidence) / 2.0f;
avg_gaze.timestamp = cc->InputTimestamp().Value();
avg_gaze = SmoothGaze(avg_gaze);
cc->Outputs().Tag("GAZE_VECTOR").AddPacket(
MakePacket<GazeVector>(avg_gaze).At(cc->InputTimestamp()));
cc->Outputs().Tag("LEFT_GAZE").AddPacket(
MakePacket<GazeVector>(left_gaze).At(cc->InputTimestamp()));
cc->Outputs().Tag("RIGHT_GAZE").AddPacket(
MakePacket<GazeVector>(right_gaze).At(cc->InputTimestamp()));
VLOG(1) << "Gaze: x=" << avg_gaze.x << ", y=" << avg_gaze.y;
return absl::OkStatus();
}
GazeVector GazeEstimationCalculator::CalculateEyeGaze(
const NormalizedLandmarkList& landmarks,
int iris_center_idx,
int eye_outer_idx,
int eye_inner_idx,
int eye_top_idx,
int eye_bottom_idx) {
GazeVector gaze;
const auto& iris = landmarks.landmark(iris_center_idx);
const auto& outer = landmarks.landmark(eye_outer_idx);
const auto& inner = landmarks.landmark(eye_inner_idx);
const auto& top = landmarks.landmark(eye_top_idx);
const auto& bottom = landmarks.landmark(eye_bottom_idx);
float eye_center_x = (outer.x() + inner.x()) / 2.0f;
float eye_center_y = (top.y() + bottom.y()) / 2.0f;
float eye_width = std::abs(inner.x() - outer.x());
float eye_height = std::abs(bottom.y() - top.y());
if (eye_width > 1e-6f && eye_height > 1e-6f) {
gaze.x = (iris.x() - eye_center_x) / eye_width * 2.0f;
gaze.y = (iris.y() - eye_center_y) / eye_height * 2.0f;
} else {
gaze.x = 0.0f;
gaze.y = 0.0f;
}
gaze.confidence = (iris.visibility() + outer.visibility() + inner.visibility()) / 3.0f;
return gaze;
}
GazeVector GazeEstimationCalculator::SmoothGaze(const GazeVector& current) {
gaze_history_.push_back(current);
while (gaze_history_.size() > smooth_window_) {
gaze_history_.pop_front();
}
GazeVector smoothed;
smoothed.x = 0.0f;
smoothed.y = 0.0f;
smoothed.confidence = 0.0f;
for (const auto& g : gaze_history_) {
smoothed.x += g.x;
smoothed.y += g.y;
smoothed.confidence += g.confidence;
}
smoothed.x /= gaze_history_.size();
smoothed.y /= gaze_history_.size();
smoothed.confidence /= gaze_history_.size();
smoothed.timestamp = current.timestamp;
return smoothed;
}
REGISTER_CALCULATOR(GazeEstimationCalculator);
}
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