From 4f574f47d7d4e365aef5cccc80a6cd8f595622ec Mon Sep 17 00:00:00 2001 From: utof Date: Thu, 11 Sep 2025 23:47:45 +0300 Subject: [PATCH 1/2] fix: replace absolute path with relative for screen_position_file --- Webcam3DTracker/MonitorTracking.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Webcam3DTracker/MonitorTracking.py b/Webcam3DTracker/MonitorTracking.py index 532260a..c62d30c 100644 --- a/Webcam3DTracker/MonitorTracking.py +++ b/Webcam3DTracker/MonitorTracking.py @@ -81,7 +81,7 @@ 3, 248] # ===== NEW: File writing for screen position ===== -screen_position_file = "C:/Storage/Google Drive/Software/EyeTracker3DPython/screen_position.txt" +screen_position_file = "./screen_position.txt" def write_screen_position(x, y): """Write screen position to file, overwriting the same line""" From 9bfb55e72be243f4135a681bfb519f88008b8664 Mon Sep 17 00:00:00 2001 From: utof Date: Fri, 12 Sep 2025 00:59:14 +0300 Subject: [PATCH 2/2] refactor(monitor_tracking): restructure into modular package structure - Refactor the monolithic MonitorTracking.py into a proper Python package - Move functionality into dedicated modules: config/settings, core/detection, core/gaze, core/monitor - Add utils for controls, geometry, and visualization - Preserve core functionality while improving maintainability and testability --- Webcam3DTracker/.gitignore | 216 + Webcam3DTracker/.python-version | 1 + Webcam3DTracker/MonitorTracking.py | 1039 +---- Webcam3DTracker/main.py | 6 + Webcam3DTracker/pyproject.toml | 14 + Webcam3DTracker/readme.md | 116 +- .../src/monitor_tracking/__init__.py | 8 + .../src/monitor_tracking/config/__init__.py | 5 + .../src/monitor_tracking/config/settings.py | 67 + .../src/monitor_tracking/core/__init__.py | 7 + .../src/monitor_tracking/core/detection.py | 75 + .../src/monitor_tracking/core/gaze.py | 152 + .../src/monitor_tracking/core/monitor.py | 129 + Webcam3DTracker/src/monitor_tracking/main.py | 224 + .../src/monitor_tracking/utils/__init__.py | 11 + .../src/monitor_tracking/utils/controls.py | 77 + .../src/monitor_tracking/utils/geometry.py | 50 + .../monitor_tracking/utils/visualization.py | 351 ++ Webcam3DTracker/uv.lock | 3602 +++++++++++++++++ 19 files changed, 5087 insertions(+), 1063 deletions(-) create mode 100644 Webcam3DTracker/.gitignore create mode 100644 Webcam3DTracker/.python-version create mode 100644 Webcam3DTracker/main.py create mode 100644 Webcam3DTracker/pyproject.toml create mode 100644 Webcam3DTracker/src/monitor_tracking/__init__.py create mode 100644 Webcam3DTracker/src/monitor_tracking/config/__init__.py create mode 100644 Webcam3DTracker/src/monitor_tracking/config/settings.py create mode 100644 Webcam3DTracker/src/monitor_tracking/core/__init__.py create mode 100644 Webcam3DTracker/src/monitor_tracking/core/detection.py create mode 100644 Webcam3DTracker/src/monitor_tracking/core/gaze.py create mode 100644 Webcam3DTracker/src/monitor_tracking/core/monitor.py create mode 100644 Webcam3DTracker/src/monitor_tracking/main.py create mode 100644 Webcam3DTracker/src/monitor_tracking/utils/__init__.py create mode 100644 Webcam3DTracker/src/monitor_tracking/utils/controls.py create mode 100644 Webcam3DTracker/src/monitor_tracking/utils/geometry.py create mode 100644 Webcam3DTracker/src/monitor_tracking/utils/visualization.py create mode 100644 Webcam3DTracker/uv.lock diff --git a/Webcam3DTracker/.gitignore b/Webcam3DTracker/.gitignore new file mode 100644 index 0000000..64d49ae --- /dev/null +++ b/Webcam3DTracker/.gitignore @@ -0,0 +1,216 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[codz] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py.cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +# Pipfile.lock + +# UV +# Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# uv.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +# poetry.lock +# poetry.toml + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +# pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python. +# https://pdm-project.org/en/latest/usage/project/#working-with-version-control +# pdm.lock +# pdm.toml +.pdm-python +.pdm-build/ + +# pixi +# Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control. +# pixi.lock +# Pixi creates a virtual environment in the .pixi directory, just like venv module creates one +# in the .venv directory. It is recommended not to include this directory in version control. +.pixi + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# Redis +*.rdb +*.aof +*.pid + +# RabbitMQ +mnesia/ +rabbitmq/ +rabbitmq-data/ + +# ActiveMQ +activemq-data/ + +# SageMath parsed files +*.sage.py + +# Environments +.env +.envrc +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +# .idea/ + +# Abstra +# Abstra is an AI-powered process automation framework. +# Ignore directories containing user credentials, local state, and settings. +# Learn more at https://abstra.io/docs +.abstra/ + +# Visual Studio Code +# Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore +# that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore +# and can be added to the global gitignore or merged into this file. However, if you prefer, +# you could uncomment the following to ignore the entire vscode folder +# .vscode/ + +# Ruff stuff: +.ruff_cache/ + +# PyPI configuration file +.pypirc + +# Marimo +marimo/_static/ +marimo/_lsp/ +__marimo__/ + +# Streamlit +.streamlit/secrets.toml \ No newline at end of file diff --git a/Webcam3DTracker/.python-version b/Webcam3DTracker/.python-version new file mode 100644 index 0000000..e4fba21 --- /dev/null +++ b/Webcam3DTracker/.python-version @@ -0,0 +1 @@ +3.12 diff --git a/Webcam3DTracker/MonitorTracking.py b/Webcam3DTracker/MonitorTracking.py index c62d30c..44668a5 100644 --- a/Webcam3DTracker/MonitorTracking.py +++ b/Webcam3DTracker/MonitorTracking.py @@ -1,1035 +1,12 @@ -import cv2 -import numpy as np -import os -import mediapipe as mp -import time -import math -from scipy.spatial.transform import Rotation as Rscipy -from collections import deque -import pyautogui -import threading -import keyboard +"""Deprecated entry point. Use the modular implementation via python -m src.monitor_tracking.""" -# Screen and mouse control setup (from old script) -MONITOR_WIDTH, MONITOR_HEIGHT = pyautogui.size() -CENTER_X = MONITOR_WIDTH // 2 -CENTER_Y = MONITOR_HEIGHT // 2 -mouse_control_enabled = False -filter_length = 10 -gaze_length = 350 +import sys +from pathlib import Path -# --- Orbit camera state for the debug view --- -orbit_yaw = -151.0 # radians, left/right -orbit_pitch = 00.0 # radians, up/down -orbit_radius = 1500.0 # distance from head center -orbit_fov_deg = 50.0 # horizontal FOV for projection +# Add src to path if needed +sys.path.insert(0, str(Path(__file__).parent / 'src')) -# --- Debug-view world freeze (pivot fixed after center calibration) --- -debug_world_frozen = False -orbit_pivot_frozen = None # world-space point the debug camera orbits (monitor center at calib) +from src.monitor_tracking import main -# Stored gaze markers on the monitor plane (as (a,b) in plane coords) -# a = 0..1 across width (p0->p1), b = 0..1 down height (p0->p3) -gaze_markers = [] - -# --- 3D monitor plane state (world space) --- -monitor_corners = None # list of 4 world points (p0..p3) -monitor_center_w = None # world center of the plane -monitor_normal_w = None # world normal -units_per_cm = None # world units per centimeter (computed at calibration) - -# Shared mouse target position -mouse_target = [CENTER_X, CENTER_Y] -mouse_lock = threading.Lock() - -# Calibration offsets for screen mapping -calibration_offset_yaw = 0 -calibration_offset_pitch = 0 - -# --- Simple monitor-edge calibration state --- -# 0 = waiting for center, 1 = waiting for left edge, 2 = done -calib_step = 0 - -# Buffers to store recent gaze data for smoothing -combined_gaze_directions = deque(maxlen=filter_length) - -# reference matrices to fix coordinate flipping issue -# These help keep the axes consistent from frame to frame by stabilizing eigenvector directions -R_ref_nose = [None] -R_ref_forehead = [None] -calibration_nose_scale = None - -# Initialize MediaPipe FaceMesh -mp_face_mesh = mp.solutions.face_mesh -face_mesh = mp_face_mesh.FaceMesh( - static_image_mode=False, - max_num_faces=1, - refine_landmarks=True, - min_detection_confidence=0.5, - min_tracking_confidence=0.5 -) - -# === Open webcam === -cap = cv2.VideoCapture(0) -w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) -h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) - -# === Nose-only landmark indices (for stable up/down eye sphere tracking) === -# These landmarks are near the nose and are less affected by lateral head movement -nose_indices = [4, 45, 275, 220, 440, 1, 5, 51, 281, 44, 274, 241, - 461, 125, 354, 218, 438, 195, 167, 393, 165, 391, - 3, 248] - -# ===== NEW: File writing for screen position ===== -screen_position_file = "./screen_position.txt" - -def write_screen_position(x, y): - """Write screen position to file, overwriting the same line""" - with open(screen_position_file, 'w') as f: - f.write(f"{x},{y}\n") - -def _rot_x(a): - ca, sa = math.cos(a), math.sin(a) - return np.array([[1, 0, 0], - [0, ca, -sa], - [0, sa, ca]], dtype=float) - -def _rot_y(a): - ca, sa = math.cos(a), math.sin(a) - return np.array([[ ca, 0, sa], - [ 0, 1, 0], - [-sa, 0, ca]], dtype=float) - -def _normalize(v): - v = np.asarray(v, dtype=float) - n = np.linalg.norm(v) - return v / n if n > 1e-9 else v - -def _focal_px(width, fov_deg): - # horizontal pinhole focal length - return 0.5 * width / math.tan(math.radians(fov_deg) * 0.5) - - -def create_monitor_plane(head_center, R_final, face_landmarks, w, h, - forward_hint=None, gaze_origin=None, gaze_dir=None): - """ - Build a 60cm x 40cm plane 50cm in front of the face, in world units. - Monitor is oriented horizontally like a real monitor (top edge parallel to global X-axis). - """ - # 1) Estimate scale from chin<->forehead distance - try: - lm_chin = face_landmarks[152] - lm_fore = face_landmarks[10] - chin_w = np.array([lm_chin.x * w, lm_chin.y * h, lm_chin.z * w], dtype=float) - fore_w = np.array([lm_fore.x * w, lm_fore.y * h, lm_fore.z * w], dtype=float) - face_h_units = np.linalg.norm(fore_w - chin_w) - upc = face_h_units / 15.0 # units per cm - except Exception: - upc = 5.0 - - # 2) Monitor geometry in world units - dist_cm = 50.0 - - mon_w_cm, mon_h_cm = 60.0, 40.0 - half_w = (mon_w_cm * 0.5) * upc - half_h = (mon_h_cm * 0.5) * upc - - # Head forward vector - head_forward = -R_final[:, 2] - if forward_hint is not None: - head_forward = forward_hint / np.linalg.norm(forward_hint) - - # --- NEW: use gaze ray intersection --- - if gaze_origin is not None and gaze_dir is not None: - gaze_dir = gaze_dir / np.linalg.norm(gaze_dir) - - # Place the monitor so its center is exactly at some point on the gaze ray - # For simplicity: choose intersection at 50 cm from head_center along head_forward - plane_point = head_center + head_forward * (50.0 * upc) - plane_normal = head_forward - - denom = np.dot(plane_normal, gaze_dir) - if abs(denom) > 1e-6: - t = np.dot(plane_normal, plane_point - gaze_origin) / denom - center_w = gaze_origin + t * gaze_dir - else: - # fallback: use fixed distance - center_w = head_center + head_forward * (50.0 * upc) - else: - # fallback: original placement - center_w = head_center + head_forward * (50.0 * upc) - - # Compute right/up using head orientation - world_up = np.array([0, -1, 0], dtype=float) - head_right = np.cross(world_up, head_forward) - head_right /= np.linalg.norm(head_right) - head_up = np.cross(head_forward, head_right) - head_up /= np.linalg.norm(head_up) - - # Corners - p0 = center_w - head_right * half_w - head_up * half_h - p1 = center_w + head_right * half_w - head_up * half_h - p2 = center_w + head_right * half_w + head_up * half_h - p3 = center_w - head_right * half_w + head_up * half_h - - normal_w = head_forward / (np.linalg.norm(head_forward) + 1e-9) - return [p0, p1, p2, p3], center_w, normal_w, upc - - - - -def update_orbit_from_keys(): - """Keyboard orbit controls that PRINT every frame while a key is held.""" - global orbit_yaw, orbit_pitch, orbit_radius - yaw_step = math.radians(1.5) - pitch_step = math.radians(1.5) - zoom_step = 12.0 - - changed = False - - # Rotate - if keyboard.is_pressed('j'): # yaw left - orbit_yaw -= yaw_step; changed = True - if keyboard.is_pressed('l'): # yaw right - orbit_yaw += yaw_step; changed = True - if keyboard.is_pressed('i'): # pitch up - orbit_pitch += pitch_step; changed = True - if keyboard.is_pressed('k'): # pitch down - orbit_pitch -= pitch_step; changed = True - - # Zoom - if keyboard.is_pressed('['): # zoom out - orbit_radius += zoom_step; changed = True - if keyboard.is_pressed(']'): # zoom in - orbit_radius = max(80.0, orbit_radius - zoom_step); changed = True - - # Reset (prints every frame while held) - if keyboard.is_pressed('r'): - orbit_yaw = 0.0 - orbit_pitch = 0.0 - orbit_radius = 600.0 - changed = True - - # Clamp pitch & radius - orbit_pitch = max(math.radians(-89), min(math.radians(89), orbit_pitch)) - orbit_radius = max(80.0, orbit_radius) - - if changed: - print(f"[Orbit Debug] yaw={math.degrees(orbit_yaw):.2f}°, " - f"pitch={math.degrees(orbit_pitch):.2f}°, " - f"radius={orbit_radius:.2f}, " - f"fov={orbit_fov_deg:.1f}°") - - - - -def compute_scale(points_3d): - # Use average pairwise distance for robustness - n = len(points_3d) - total = 0 - count = 0 - for i in range(n): - for j in range(i + 1, n): - dist = np.linalg.norm(points_3d[i] - points_3d[j]) - total += dist - count += 1 - return total / count if count > 0 else 1.0 - -def draw_gaze(frame, eye_center, iris_center, eye_radius, color, gaze_length): - # Gaze vector - gaze_direction = iris_center - eye_center - gaze_direction /= np.linalg.norm(gaze_direction) - gaze_endpoint = eye_center + gaze_direction * gaze_length - - cv2.line(frame, tuple(int(v) for v in eye_center[:2]), tuple(int(v) for v in gaze_endpoint[:2]), color, 2) - - # Segment points - iris_offset = eye_center + gaze_direction * (1.2 * eye_radius) - - # ---- PART 1: back segment (behind iris) ---- - cv2.line( - frame, - (int(eye_center[0]), int(eye_center[1])), - (int(iris_offset[0]), int(iris_offset[1])), - color, - 1 - ) - - # ---- IRIS (occludes part of the ray) ---- - up_dir = np.array([0, -1, 0]) - right_dir = np.cross(gaze_direction, up_dir) - if np.linalg.norm(right_dir) < 1e-6: - right_dir = np.array([1, 0, 0]) - up_dir = np.cross(right_dir, gaze_direction) - up_dir /= np.linalg.norm(up_dir) - right_dir /= np.linalg.norm(right_dir) - ellipse_axes = ( - int((eye_radius / 3) * np.linalg.norm(right_dir[:2])), - int((eye_radius / 3) * np.linalg.norm(up_dir[:2])) - ) - angle = math.degrees(math.atan2(gaze_direction[1], gaze_direction[0])) - - # ---- PART 2: front segment (on top of iris) ---- - cv2.line( - frame, - (int(iris_offset[0]), int(iris_offset[1])), - (int(gaze_endpoint[0]), int(gaze_endpoint[1])), - color, - 1 - ) - -def draw_wireframe_cube(frame, center, R, size=80): - # Given a center and rotation matrix, draw a cube aligned to that orientation - right = R[:, 0] - up = -R[:, 1] - forward = -R[:, 2] - - hw, hh, hd = size * 1, size * 1, size * 1 - - def corner(x_sign, y_sign, z_sign): - return (center + - x_sign * hw * right + - y_sign * hh * up + - z_sign * hd * forward) - - # 8 corners of the cube - corners = [corner(x, y, z) for x in [-1, 1] for y in [1, -1] for z in [-1, 1]] - projected = [(int(pt[0]), int(pt[1])) for pt in corners] - - # Edges connecting the corners - edges = [ - (0, 1), (1, 3), (3, 2), (2, 0), - (4, 5), (5, 7), (7, 6), (6, 4), - (0, 4), (1, 5), (2, 6), (3, 7) - ] - for i, j in edges: - cv2.line(frame, projected[i], projected[j], (255, 128, 0), 2) - -def compute_and_draw_coordinate_box(frame, face_landmarks, indices, ref_matrix_container, color=(0, 255, 0), size=80): - # Extract 3D positions of selected landmarks - points_3d = np.array([ - [face_landmarks[i].x * w, face_landmarks[i].y * h, face_landmarks[i].z * w] - for i in indices - ]) - - # Compute the average position as the center of this substructure - center = np.mean(points_3d, axis=0) - - # Draw the raw 2D landmark points - for i in indices: - x, y = int(face_landmarks[i].x * w), int(face_landmarks[i].y * h) - cv2.circle(frame, (x, y), 3, color, -1) - - # PCA-based orientation: Compute eigenvectors of the covariance matrix - centered = points_3d - center - cov = np.cov(centered.T) - eigvals, eigvecs = np.linalg.eigh(cov) - eigvecs = eigvecs[:, np.argsort(-eigvals)] # Sort by descending eigenvalue (major axes) - - # Ensure the orientation matrix is right-handed - if np.linalg.det(eigvecs) < 0: - eigvecs[:, 2] *= -1 - - # Convert to Euler angles and re-construct rotation matrix (optional but clarifies the transform) - r = Rscipy.from_matrix(eigvecs) - roll, pitch, yaw = r.as_euler('zyx', degrees=False) - yaw *= 1 - roll *= 1 - R_final = Rscipy.from_euler('zyx', [roll, pitch, yaw]).as_matrix() - - # === Stabilize rotation with reference matrix to avoid flipping during eigenvector sign change === - if ref_matrix_container[0] is None: - ref_matrix_container[0] = R_final.copy() - else: - R_ref = ref_matrix_container[0] - for i in range(3): - if np.dot(R_final[:, i], R_ref[:, i]) < 0: - R_final[:, i] *= -1 - - # Draw cube and orientation axes on the image - draw_wireframe_cube(frame, center, R_final, size) - - # Draw X (green), Y (blue), Z (red) axes - axis_length = size * 1.2 - axis_dirs = [R_final[:, 0], -R_final[:, 1], -R_final[:, 2]] - axis_colors = [(0, 255, 0), (0, 0, 255), (255, 0, 0)] - - for i in range(3): - end_pt = center + axis_dirs[i] * axis_length - cv2.line(frame, (int(center[0]), int(center[1])), (int(end_pt[0]), int(end_pt[1])), axis_colors[i], 2) - - return center, R_final, points_3d - -def convert_gaze_to_screen_coordinates(combined_gaze_direction, calibration_offset_yaw, calibration_offset_pitch): - """ - Convert 3D gaze direction vector to 2D screen coordinates - This function is adapted from the old script's vector-to-screen mapping logic - """ - # Reference forward direction (camera looking straight ahead) - reference_forward = np.array([0, 0, -1]) # Z-axis into the screen - - # Normalize the gaze direction - avg_direction = combined_gaze_direction / np.linalg.norm(combined_gaze_direction) - - # Horizontal (yaw) angle from reference (project onto XZ plane) - xz_proj = np.array([avg_direction[0], 0, avg_direction[2]]) - xz_proj /= np.linalg.norm(xz_proj) - yaw_rad = math.acos(np.clip(np.dot(reference_forward, xz_proj), -1.0, 1.0)) - if avg_direction[0] < 0: - yaw_rad = -yaw_rad # left is negative - - # Vertical (pitch) angle from reference (project onto YZ plane) - yz_proj = np.array([0, avg_direction[1], avg_direction[2]]) - yz_proj /= np.linalg.norm(yz_proj) - pitch_rad = math.acos(np.clip(np.dot(reference_forward, yz_proj), -1.0, 1.0)) - if avg_direction[1] > 0: - pitch_rad = -pitch_rad # up is positive - - # Convert to degrees and re-center around 0 - yaw_deg = np.degrees(yaw_rad) - pitch_deg = np.degrees(pitch_rad) - - # Convert left rotations to 0-180 (from old script logic) - if yaw_deg < 0: - yaw_deg = -(yaw_deg) - elif yaw_deg > 0: - yaw_deg = - yaw_deg - - #yaw is now converted to -90 (looking directly left) to +90 (looking directly right), wrt camera - #pitch is now converted to +90 (looking straight up) and -90 (looking straight down), wrt camera - - raw_yaw_deg = yaw_deg - raw_pitch_deg = pitch_deg - - - # Specify degrees at which screen border will be reached - yawDegrees = 5 * 3 # x degrees left or right - pitchDegrees = 2.0 * 2.5 # x degrees up or down - - # Apply calibration offsets - yaw_deg += calibration_offset_yaw - pitch_deg += calibration_offset_pitch - - # Map to full screen resolution - screen_x = int(((yaw_deg + yawDegrees) / (2 * yawDegrees)) * MONITOR_WIDTH) - screen_y = int(((pitchDegrees - pitch_deg) / (2 * pitchDegrees)) * MONITOR_HEIGHT) - - # Clamp screen position to monitor bounds - screen_x = max(10, min(screen_x, MONITOR_WIDTH - 10)) - screen_y = max(10, min(screen_y, MONITOR_HEIGHT - 10)) - - return screen_x, screen_y, raw_yaw_deg, raw_pitch_deg - -def render_debug_view_orbit( - h, w, - head_center3d=None, - sphere_world_l=None, scaled_radius_l=None, - sphere_world_r=None, scaled_radius_r=None, - iris3d_l=None, iris3d_r=None, - left_locked=False, right_locked=False, - landmarks3d=None, - combined_dir=None, - gaze_len=430, - monitor_corners=None, - monitor_center=None, - monitor_normal=None, - gaze_markers=None, -): - if head_center3d is None: - return - - debug = np.zeros((h, w, 3), dtype=np.uint8) - - # --- Choose orbit pivot --- - head_w = np.asarray(head_center3d, dtype=float) - - # NEW: if we've frozen the world, orbit around the frozen pivot (monitor center at calib) - global debug_world_frozen, orbit_pivot_frozen - if debug_world_frozen and orbit_pivot_frozen is not None: - pivot_w = np.asarray(orbit_pivot_frozen, dtype=float) - else: - if monitor_center is not None: - pivot_w = (head_w + np.asarray(monitor_center, dtype=float)) * 0.5 - else: - pivot_w = head_w - - # --- Camera pose (orbit around pivot_w) --- - f_px = _focal_px(w, orbit_fov_deg) - cam_offset = _rot_y(orbit_yaw) @ (_rot_x(orbit_pitch) @ np.array([0.0, 0.0, orbit_radius])) - cam_pos = pivot_w + cam_offset - - up_world = np.array([0.0, -1.0, 0.0]) # image-space up is -Y - fwd = _normalize(pivot_w - cam_pos) # look at pivot - right = _normalize(np.cross(fwd, up_world)) - up = _normalize(np.cross(right, fwd)) - V = np.stack([right, up, fwd], axis=0) - - def project_point(P): - Pw = np.asarray(P, dtype=float) - Pc = V @ (Pw - cam_pos) - if Pc[2] <= 1e-3: - return None - x = f_px * (Pc[0] / Pc[2]) + w * 0.5 - y = -f_px * (Pc[1] / Pc[2]) + h * 0.5 - if not (np.isfinite(x) and np.isfinite(y)): - return None - return (int(x), int(y)), Pc[2] - - # --- helper draws --- - def draw_poly_3d(pts, color=(0, 200, 255), thickness=2): - projs = [project_point(p) for p in pts] - if any(p is None for p in projs): return - p2 = [p[0] for p in projs] - for a, b in zip(p2, p2[1:] + [p2[0]]): - cv2.line(debug, a, b, color, thickness) - - def draw_cross_3d(P, size=12, color=(255, 0, 255), thickness=2): - res = project_point(P) - if res is None: return - (x, y), _ = res - cv2.line(debug, (x - size, y), (x + size, y), color, thickness) - cv2.line(debug, (x, y - size), (x, y + size), color, thickness) - - def draw_arrow_3d(P0, P1, color=(0, 200, 255), thickness=3): - a = project_point(P0); b = project_point(P1) - if a is None or b is None: return - p0, p1 = a[0], b[0] - cv2.line(debug, p0, p1, color, thickness) - v = np.array([p1[0]-p0[0], p1[1]-p0[1]], dtype=float) - n = np.linalg.norm(v) - if n > 1e-3: - v /= n - l = np.array([-v[1], v[0]]) - ah = 10 - a1 = (int(p1[0] - v[0]*ah + l[0]*ah*0.6), int(p1[1] - v[1]*ah + l[1]*ah*0.6)) - a2 = (int(p1[0] - v[0]*ah - l[0]*ah*0.6), int(p1[1] - v[1]*ah - l[1]*ah*0.6)) - cv2.line(debug, p1, a1, color, thickness) - cv2.line(debug, p1, a2, color, thickness) - - # --- Landmarks --- - if landmarks3d is not None: - for P in landmarks3d: - res = project_point(P) - if res is not None: - cv2.circle(debug, res[0], 0, (200, 200, 200), -1) - - # --- Head center --- - draw_cross_3d(head_w, size=12, color=(255, 0, 255), thickness=2) - hc2d = project_point(head_w) - if hc2d is not None: - cv2.putText(debug, "Head Center", (hc2d[0][0] + 12, hc2d[0][1] - 12), - cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 0, 255), 1, cv2.LINE_AA) - - # --- Pivot visual (small cross + line to head and monitor) --- - draw_cross_3d(pivot_w, size=8, color=(180, 120, 255), thickness=2) - if monitor_center is not None: - mc2d = project_point(monitor_center) - pv2d = project_point(pivot_w) - if mc2d is not None and pv2d is not None and hc2d is not None: - cv2.line(debug, pv2d[0], hc2d[0], (160, 100, 255), 1) - cv2.line(debug, pv2d[0], mc2d[0], (160, 100, 255), 1) - - # --- Eyes + per-eye gaze (unchanged from your version) --- - left_dir = None - right_dir = None - - if left_locked and sphere_world_l is not None: - res = project_point(sphere_world_l) - if res is not None: - (cx, cy), z = res - r_px = max(2, int((scaled_radius_l if scaled_radius_l else 6) * f_px / max(z, 1e-3))) - cv2.circle(debug, (cx, cy), r_px, (255, 255, 25), 1) - if iris3d_l is not None: - left_dir = np.asarray(iris3d_l) - np.asarray(sphere_world_l) - p1 = project_point(np.asarray(sphere_world_l) + _normalize(left_dir) * gaze_len) - if p1 is not None: - cv2.line(debug, (cx, cy), p1[0], (155, 155, 25), 1) - elif iris3d_l is not None: - res = project_point(iris3d_l) - if res is not None: - cv2.circle(debug, res[0], 2, (255, 255, 25), 1) - - if right_locked and sphere_world_r is not None: - res = project_point(sphere_world_r) - if res is not None: - (cx, cy), z = res - r_px = max(2, int((scaled_radius_r if scaled_radius_r else 6) * f_px / max(z, 1e-3))) - cv2.circle(debug, (cx, cy), r_px, (25, 255, 255), 1) - if iris3d_r is not None: - right_dir = np.asarray(iris3d_r) - np.asarray(sphere_world_r) - p1 = project_point(np.asarray(sphere_world_r) + _normalize(right_dir) * gaze_len) - if p1 is not None: - cv2.line(debug, (cx, cy), p1[0], (25, 155, 155), 1) - elif iris3d_r is not None: - res = project_point(iris3d_r) - if res is not None: - cv2.circle(debug, res[0], 2, (25, 255, 255), 1) - - if left_locked and right_locked and sphere_world_l is not None and sphere_world_r is not None: - origin_mid = (np.asarray(sphere_world_l) + np.asarray(sphere_world_r)) / 2.0 - if combined_dir is None and (left_dir is not None or right_dir is not None): - parts = [] - if left_dir is not None: parts.append(_normalize(left_dir)) - if right_dir is not None: parts.append(_normalize(right_dir)) - if parts: - combined_dir = _normalize(np.mean(parts, axis=0)) - if combined_dir is not None: - p0 = project_point(origin_mid) - p1 = project_point(origin_mid + _normalize(combined_dir) * (gaze_len * 1.2)) - if p0 is not None and p1 is not None: - cv2.line(debug, p0[0], p1[0], (155, 200, 10), 2) - - # --- Monitor plane --- - if monitor_corners is not None: - def draw_poly(points, color, thickness): - projs = [project_point(p) for p in points] - if any(p is None for p in projs): return - p2 = [p[0] for p in projs] - for a, b in zip(p2, p2[1:] + [p2[0]]): - cv2.line(debug, a, b, color, thickness) - draw_poly(monitor_corners, (0, 200, 255), 2) - draw_poly([monitor_corners[0], monitor_corners[2]], (0, 150, 210), 1) - draw_poly([monitor_corners[1], monitor_corners[3]], (0, 150, 210), 1) - if monitor_center is not None: - draw_cross_3d(monitor_center, size=8, color=(0, 200, 255), thickness=2) - if monitor_normal is not None: - tip = np.asarray(monitor_center) + np.asarray(monitor_normal) * (20.0 * (units_per_cm or 1.0)) - draw_arrow_3d(monitor_center, tip, color=(0, 220, 255), thickness=2) - - # --- Stored gaze markers on the monitor plane (green circles) --- - if (gaze_markers and monitor_corners is not None): - p0, p1, p2, p3 = [np.asarray(p, dtype=float) for p in monitor_corners] - u = p1 - p0 # width direction - v = p3 - p0 # height direction - width_world = float(np.linalg.norm(u)) - if width_world > 1e-9: - u_hat = u / width_world - r_world = 0.01 * width_world # 2% of width - for (a, b) in gaze_markers: - Pm = p0 + a * u + b * v - projP = project_point(Pm) - projR = project_point(Pm + u_hat * r_world) - if projP is not None and projR is not None: - center_px = projP[0] - r_px = int(max(1, np.linalg.norm(np.array(projR[0]) - np.array(center_px)))) - cv2.circle(debug, center_px, r_px, (0, 255, 0), 1, lineType=cv2.LINE_AA) - - - - # --- Gaze hit on monitor plane (circle at intersection) --- - if (monitor_corners is not None and monitor_center is not None and monitor_normal is not None - and combined_dir is not None - and sphere_world_l is not None and sphere_world_r is not None): - - # Ray: origin at midpoint between eyes; direction = combined gaze - O = (np.asarray(sphere_world_l, dtype=float) + np.asarray(sphere_world_r, dtype=float)) * 0.5 - D = _normalize(np.asarray(combined_dir, dtype=float)) - - # Plane: through monitor_center with normal = monitor_normal - C = np.asarray(monitor_center, dtype=float) - N = _normalize(np.asarray(monitor_normal, dtype=float)) - - denom = float(np.dot(N, D)) - if abs(denom) > 1e-6: - t = float(np.dot(N, (C - O)) / denom) - if t > 0.0: - P = O + t * D # world-space intersection point - - # Inside-quad test using monitor's local axes (top-left p0, top-right p1, bottom-left p3) - p0, p1, p2, p3 = [np.asarray(p, dtype=float) for p in monitor_corners] - u = p1 - p0 # horizontal (width) vector - v = p3 - p0 # vertical (height) vector - wv = P - p0 - - u_len2 = float(np.dot(u, u)) - v_len2 = float(np.dot(v, v)) - if u_len2 > 1e-9 and v_len2 > 1e-9: - a = float(np.dot(wv, u) / u_len2) # 0..1 across width - b = float(np.dot(wv, v) / v_len2) # 0..1 across height - - if 0.0 <= a <= 1.0 and 0.0 <= b <= 1.0: - # Project center to pixels - projP = project_point(P) - if projP is not None: - center_px = projP[0] - - # Circle radius = 5% of monitor width (world), projected to pixels - width_world = math.sqrt(u_len2) - r_world = 0.05 * width_world - u_hat = u / max(width_world, 1e-9) - - projR = project_point(P + u_hat * r_world) - if projR is not None: - r_px = int(max(1, np.linalg.norm(np.array(projR[0]) - np.array(center_px)))) - cv2.circle(debug, center_px, r_px, (0, 255, 255), 2, lineType=cv2.LINE_AA) - - - # --- Key command help text in lower-left --- - help_text = [ - "C = calibrate screen center", - "J = yaw left", - "L = yaw right", - "I = pitch up", - "K = pitch down", - "[ = zoom out", - "] = zoom in", - "R = reset view", - "X = add marker", - "q = quit", - "F7 = toggle mouse control" - ] - - font = cv2.FONT_HERSHEY_SIMPLEX - font_scale = 0.5 - thickness = 1 - line_height = 18 # pixels between lines - - # Start a bit above the bottom-left corner - y0 = h - (len(help_text) * line_height) - 10 - x0 = 10 - - for i, text in enumerate(help_text): - y = y0 + i * line_height - cv2.putText(debug, text, (x0, y), font, font_scale, (200, 200, 200), thickness, cv2.LINE_AA) - - - cv2.imshow("Head/Eye Debug", debug) - - - -def mouse_mover(): - """Mouse movement thread from old script""" - while True: - if mouse_control_enabled: - with mouse_lock: - x, y = mouse_target - pyautogui.moveTo(x, y) - time.sleep(0.01) # adjust for responsiveness - -# Start mouse movement thread -threading.Thread(target=mouse_mover, daemon=True).start() - -# Eye sphere tracking variables (from new script) -left_sphere_locked = False -left_sphere_local_offset = None -left_calibration_nose_scale = None - -right_sphere_locked = False -right_sphere_local_offset = None -right_calibration_nose_scale = None - -while cap.isOpened(): - ret, frame = cap.read() - if not ret: - break - - combined_dir = None # will be filled once you compute a smoothed direction - - frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) - results = face_mesh.process(frame_rgb) - - if results.multi_face_landmarks: - face_landmarks = results.multi_face_landmarks[0].landmark - - # Index for left iris center point (from MediaPipe's iris model) - left_iris_idx = 468 - right_iris_idx = 473 - left_iris = face_landmarks[left_iris_idx] - right_iris = face_landmarks[right_iris_idx] - - # Compute and draw stabilized coordinate frame from nose region - head_center, R_final, nose_points_3d = compute_and_draw_coordinate_box( - frame, - face_landmarks, - nose_indices, - R_ref_nose, - color=(0, 255, 0), - size=80 - ) - - # TODO compute this radius using canthus during calibration - base_radius = 20 # radius at calibration distance - - x_iris_l = int(left_iris.x * w) - y_iris_l = int(left_iris.y * h) - # === LEFT EYE visualization === - if not left_sphere_locked: - cv2.circle(frame, (x_iris_l, y_iris_l), 10, (255, 25, 25), 2) - else: - current_nose_scale = compute_scale(nose_points_3d) - scale_ratio = current_nose_scale / left_calibration_nose_scale if left_calibration_nose_scale else 1.0 - scaled_offset = left_sphere_local_offset * scale_ratio - sphere_world_l = head_center + R_final @ scaled_offset - x_sphere_l, y_sphere_l = int(sphere_world_l[0]), int(sphere_world_l[1]) - scaled_radius_l = int(base_radius * scale_ratio) - cv2.circle(frame, (x_sphere_l, y_sphere_l), scaled_radius_l, (255, 255, 25), 2) - - x_iris_r = int(right_iris.x * w) - y_iris_r = int(right_iris.y * h) - # === RIGHT EYE visualization === - if not right_sphere_locked: - cv2.circle(frame, (x_iris_r, y_iris_r), 10, (25, 255, 25), 2) - else: - current_nose_scale = compute_scale(nose_points_3d) - scale_ratio_r = current_nose_scale / right_calibration_nose_scale if right_calibration_nose_scale else 1.0 - scaled_offset_r = right_sphere_local_offset * scale_ratio_r - sphere_world_r = head_center + R_final @ scaled_offset_r - x_sphere_r, y_sphere_r = int(sphere_world_r[0]), int(sphere_world_r[1]) - scaled_radius_r = int(base_radius * scale_ratio_r) - cv2.circle(frame, (x_sphere_r, y_sphere_r), scaled_radius_r, (25, 255, 255), 2) - - iris_3d_left = np.array([left_iris.x * w, left_iris.y * h, left_iris.z * w]) - iris_3d_right = np.array([right_iris.x * w, right_iris.y * h, right_iris.z * w]) - - if left_sphere_locked and right_sphere_locked: - # ==== DRAW LEFT AND RIGHT GAZE ==== - draw_gaze(frame, sphere_world_l, iris_3d_left, scaled_radius_l, (55, 255, 0), 130) - draw_gaze(frame, sphere_world_r, iris_3d_right, scaled_radius_r, (55, 255, 0), 130) - - # ==== COMPUTE COMBINED GAZE DIRECTION FOR SCREEN MAPPING ==== - # Calculate individual gaze directions - left_gaze_dir = iris_3d_left - sphere_world_l - left_gaze_dir /= np.linalg.norm(left_gaze_dir) - - right_gaze_dir = iris_3d_right - sphere_world_r - right_gaze_dir /= np.linalg.norm(right_gaze_dir) - - # Combine gaze directions (average) - raw_combined_direction = (left_gaze_dir + right_gaze_dir) / 2 - raw_combined_direction /= np.linalg.norm(raw_combined_direction) - - # Update direction buffer for smoothing - combined_gaze_directions.append(raw_combined_direction) - - # Smoothed direction - avg_combined_direction = np.mean(combined_gaze_directions, axis=0) - avg_combined_direction /= np.linalg.norm(avg_combined_direction) - - combined_dir = avg_combined_direction - - # ==== CONVERT GAZE TO SCREEN COORDINATES ==== - screen_x, screen_y, raw_yaw, raw_pitch = convert_gaze_to_screen_coordinates( - avg_combined_direction, - calibration_offset_yaw, - calibration_offset_pitch - ) - - # Update mouse target - if mouse_control_enabled: - with mouse_lock: - mouse_target[0] = screen_x - mouse_target[1] = screen_y - - # ===== NEW: Write screen position to file ===== - write_screen_position(screen_x, screen_y) - - # Draw combined gaze ray for visualization - combined_origin = (sphere_world_l + sphere_world_r) / 2 - combined_target = combined_origin + avg_combined_direction * gaze_length - cv2.line( - frame, - (int(combined_origin[0]), int(combined_origin[1])), - (int(combined_target[0]), int(combined_target[1])), - (255, 255, 10), 3 - ) - - # Center multiple lines of text - texts = [ - f"Screen: ({screen_x}, {screen_y})", - #f"Mouse: {'ON' if mouse_control_enabled else 'OFF'}" - ] - - font = cv2.FONT_HERSHEY_SIMPLEX - font_scale = 0.7 - thickness = 2 - line_spacing = 30 - - for i, text in enumerate(texts): - (text_width, text_height), baseline = cv2.getTextSize(text, font, font_scale, thickness) - center_x = (w - text_width) // 2 - #center_y = (h // 2) + (i - len(texts)//2) * line_spacing - - color = (0, 255, 0) if "Mouse: ON" not in text else (0, 255, 0) if mouse_control_enabled else (0, 0, 255) - cv2.putText(frame, text, (center_x, 30), font, font_scale, color, thickness) - - # Draw all landmark points in white - for idx, lm in enumerate(face_landmarks): - x, y = int(lm.x * w), int(lm.y * h) - cv2.circle(frame, (x, y), 0, (255, 255, 255), -1) - - # Smooth orbit controls each frame - update_orbit_from_keys() - - # Build 3D landmarks in your existing scale (x*w, y*h, z*w) - landmarks3d = None - if results.multi_face_landmarks: - lm = results.multi_face_landmarks[0].landmark - landmarks3d = np.array([[p.x * w, p.y * h, p.z * w] for p in lm], dtype=float) - - render_debug_view_orbit( - h, w, - head_center3d=head_center if 'head_center' in locals() else None, - sphere_world_l=sphere_world_l if left_sphere_locked and 'sphere_world_l' in locals() else None, - scaled_radius_l=scaled_radius_l if left_sphere_locked and 'scaled_radius_l' in locals() else None, - sphere_world_r=sphere_world_r if right_sphere_locked and 'sphere_world_r' in locals() else None, - scaled_radius_r=scaled_radius_r if right_sphere_locked and 'scaled_radius_r' in locals() else None, - iris3d_l=iris_3d_left if 'iris_3d_left' in locals() else None, - iris3d_r=iris_3d_right if 'iris_3d_right' in locals() else None, - left_locked=left_sphere_locked, - right_locked=right_sphere_locked, - landmarks3d=landmarks3d, - combined_dir=avg_combined_direction if 'avg_combined_direction' in locals() else None, - gaze_len=5230, - monitor_corners=monitor_corners, - monitor_center=monitor_center_w, - monitor_normal=monitor_normal_w, - gaze_markers=gaze_markers - ) - - - cv2.imshow("Integrated Eye Tracking", frame) - - # Handle keyboard input - if keyboard.is_pressed('f7'): - mouse_control_enabled = not mouse_control_enabled - print(f"[Mouse Control] {'Enabled' if mouse_control_enabled else 'Disabled'}") - time.sleep(0.3) # debounce to prevent rapid toggling - - key = cv2.waitKey(1) & 0xFF - if key == ord('q'): - break - elif key == ord('c') and not (left_sphere_locked and right_sphere_locked): - current_nose_scale = compute_scale(nose_points_3d) - # Lock LEFT eye - left_sphere_local_offset = R_final.T @ (iris_3d_left - head_center) - camera_dir_world = np.array([0, 0, 1]) - camera_dir_local = R_final.T @ camera_dir_world - left_sphere_local_offset += base_radius * camera_dir_local - left_calibration_nose_scale = current_nose_scale - left_sphere_locked = True - - # Lock RIGHT eye - right_sphere_local_offset = R_final.T @ (iris_3d_right - head_center) - right_sphere_local_offset += base_radius * camera_dir_local # use same camera_dir_local - right_calibration_nose_scale = current_nose_scale - right_sphere_locked = True - - # === Create 3D monitor plane at calibration === - # Compute instantaneous sphere positions at calibration distance (scale=1) - sphere_world_l_calib = head_center + R_final @ left_sphere_local_offset - sphere_world_r_calib = head_center + R_final @ right_sphere_local_offset - - # Estimate a forward gaze direction from the two eyes - left_dir = iris_3d_left - sphere_world_l_calib - right_dir = iris_3d_right - sphere_world_r_calib - # Normalize (guard zero) - if np.linalg.norm(left_dir) > 1e-9: left_dir /= np.linalg.norm(left_dir) - if np.linalg.norm(right_dir) > 1e-9: right_dir /= np.linalg.norm(right_dir) - forward_hint = (left_dir + right_dir) * 0.5 - if np.linalg.norm(forward_hint) > 1e-9: - forward_hint /= np.linalg.norm(forward_hint) - else: - forward_hint = None # fallback to head frame - - gaze_origin = (sphere_world_l_calib + sphere_world_r_calib) / 2 - gaze_dir = forward_hint # already normalized - - monitor_corners, monitor_center_w, monitor_normal_w, units_per_cm = create_monitor_plane( - head_center, R_final, face_landmarks, w, h, - forward_hint=forward_hint, - gaze_origin=gaze_origin, - gaze_dir=gaze_dir - ) - - # Freeze the debug world's orbit pivot at the calibrated monitor center - #global debug_world_frozen, orbit_pivot_frozen - debug_world_frozen = True - orbit_pivot_frozen = monitor_center_w.copy() - print("[Debug View] World pivot frozen at monitor center.") - - print(f"[Monitor] units_per_cm={units_per_cm:.3f}, center={monitor_center_w}, normal={monitor_normal_w}") - - - print("[Both Spheres Locked] Eye sphere calibration complete.") - elif key == ord('s') and left_sphere_locked and right_sphere_locked: - # Screen calibration - user should look at center of screen when pressing 's' - # Get current gaze direction - left_gaze_dir = iris_3d_left - sphere_world_l - left_gaze_dir /= np.linalg.norm(left_gaze_dir) - right_gaze_dir = iris_3d_right - sphere_world_r - right_gaze_dir /= np.linalg.norm(right_gaze_dir) - current_combined_direction = (left_gaze_dir + right_gaze_dir) / 2 - current_combined_direction /= np.linalg.norm(current_combined_direction) - - # Calculate what the raw angles would be without calibration - _, _, raw_yaw, raw_pitch = convert_gaze_to_screen_coordinates( - current_combined_direction, 0, 0 # no calibration offset - ) - - # Set calibration offsets to center the gaze - calibration_offset_yaw = 0 - raw_yaw - calibration_offset_pitch = 0 - raw_pitch - - print(f"[Screen Calibrated] Offset Yaw: {calibration_offset_yaw:.2f}, Offset Pitch: {calibration_offset_pitch:.2f}") - elif key == ord('x'): - # Drop a marker at the current gaze∩monitor point - if (monitor_corners is not None and monitor_center_w is not None and monitor_normal_w is not None - and left_sphere_locked and right_sphere_locked): - # Recompute current eye-sphere positions (scale-aware) - current_nose_scale = compute_scale(nose_points_3d) - scale_ratio_l = current_nose_scale / left_calibration_nose_scale if left_calibration_nose_scale else 1.0 - scale_ratio_r = current_nose_scale / right_calibration_nose_scale if right_calibration_nose_scale else 1.0 - sphere_world_l_now = head_center + R_final @ (left_sphere_local_offset * scale_ratio_l) - sphere_world_r_now = head_center + R_final @ (right_sphere_local_offset * scale_ratio_r) - - # Combined gaze direction (use smoothed if available; otherwise instantaneous) - if 'avg_combined_direction' in locals() and avg_combined_direction is not None: - D = _normalize(np.asarray(avg_combined_direction, dtype=float)) - else: - lg = iris_3d_left - sphere_world_l_now - rg = iris_3d_right - sphere_world_r_now - if np.linalg.norm(lg) < 1e-9 or np.linalg.norm(rg) < 1e-9: - print("[Marker] Gaze direction invalid; try again.") - D = None - else: - lg /= np.linalg.norm(lg) - rg /= np.linalg.norm(rg) - D = _normalize(lg + rg) - - if D is not None: - O = (sphere_world_l_now + sphere_world_r_now) * 0.5 - C = np.asarray(monitor_center_w, dtype=float) - N = _normalize(np.asarray(monitor_normal_w, dtype=float)) - denom = float(np.dot(N, D)) - if abs(denom) < 1e-6: - print("[Marker] Gaze ray parallel to monitor; no marker.") - else: - t = float(np.dot(N, (C - O)) / denom) - if t <= 0.0: - print("[Marker] Intersection behind/at eye; no marker.") - else: - P = O + t * D # world-space intersection - # Map P to monitor local (a,b), then store if inside the quad - p0, p1, p2, p3 = [np.asarray(p, dtype=float) for p in monitor_corners] - u = p1 - p0 - v = p3 - p0 - u_len2 = float(np.dot(u, u)) - v_len2 = float(np.dot(v, v)) - if u_len2 > 1e-9 and v_len2 > 1e-9: - wv = P - p0 - a = float(np.dot(wv, u) / u_len2) - b = float(np.dot(wv, v) / v_len2) - if 0.0 <= a <= 1.0 and 0.0 <= b <= 1.0: - gaze_markers.append((a, b)) - print(f"[Marker] Added at a={a:.3f}, b={b:.3f}") - else: - print("[Marker] Gaze not on monitor; no marker.") - else: - print("[Marker] Monitor dimensions degenerate; no marker.") - else: - print("[Marker] Monitor/gaze not ready; complete center calibration first.") - - -cap.release() - -cv2.destroyAllWindows() +if __name__ == "__main__": + main() diff --git a/Webcam3DTracker/main.py b/Webcam3DTracker/main.py new file mode 100644 index 0000000..10177bd --- /dev/null +++ b/Webcam3DTracker/main.py @@ -0,0 +1,6 @@ +def main(): + print("Hello from webcam3dtracker!") + + +if __name__ == "__main__": + main() diff --git a/Webcam3DTracker/pyproject.toml b/Webcam3DTracker/pyproject.toml new file mode 100644 index 0000000..8ce1b80 --- /dev/null +++ b/Webcam3DTracker/pyproject.toml @@ -0,0 +1,14 @@ +[project] +name = "webcam3dtracker" +version = "0.1.0" +description = "Add your description here" +readme = "README.md" +requires-python = ">=3.12" +dependencies = [ + "keyboard>=0.13.5", + "mediapipe>=0.10.21", + "numpy>=1.26.4", + "opencv-python>=4.11.0.86", + "pyautogui>=0.9.54", + "scipy>=1.16.2", +] diff --git a/Webcam3DTracker/readme.md b/Webcam3DTracker/readme.md index af829f3..bfef5af 100644 --- a/Webcam3DTracker/readme.md +++ b/Webcam3DTracker/readme.md @@ -1,7 +1,5 @@ **Eye Tracking and Monitor Control** -==================================== - This is a 3D eye tracker that works with your webcam. This is only in the protoype stage, and I still need to optimize heavily and implement a multi-point calibration. To help support this software and other open-source projects, please consider subscribing to my YouTube channel: @@ -13,38 +11,92 @@ https://www.youtube.com/@jeoresearch/join Recommended webcam (used in testing, ~$37): https://amzn.to/43of401 +## Project Structure + +The codebase has been refactored from a single file (`MonitorTracking.py`) into a modular Python package under `src/monitor_tracking/` for better organization, testing, and extensibility: + +- **config/**: Settings and initial state (e.g., `Settings` dataclass for globals like filter_length, screen dimensions). +- **core/**: logic + - `detection.py`: MediaPipe face mesh, landmark extraction, head pose via PCA on nose landmarks. + - `gaze.py`: Eye sphere locking, combined gaze smoothing, screen coordinate mapping (`GazeTracker` class). + - `monitor.py`: 3D plane creation, gaze intersection, markers (`MonitorPlane` class). +- **utils/**: Reusable helpers + - `geometry.py`: Math functions (rotations, normalization, scale). + - `visualization.py`: Drawing (gaze rays, cubes, 3D orbit debug view). + - `controls.py`: Keyboard input, mouse threading, file I/O. +- **main.py**: Entry point orchestrating detection, gaze, monitor, and loop. +- **__init__.py** files: Package exports for easy imports (e.g., `from monitor_tracking import main`). + +Backward compatibility: Original `MonitorTracking.py` now imports and runs the new main. -Usage ------ +## Setup -Connect a webcam. By default, camera index 0 is used. Change in code if needed. +1. Install dependencies: + ``` + pip install -r requirements.txt + ``` + +2. (Optional) Use uv for faster installs: + ``` + uv sync + ``` + +## Usage + +Connect a webcam (default index 0; change in main.py if needed). Run the tracker: -python MonitorTracking.py - -Windows will open showing: -- Integrated Eye Tracking: live video with eye landmarks, gaze rays, and calibration overlays. -- Head/Eye Debug: a 3D orbit-view with the head, gaze vectors, and the calibrated virtual monitor. - - -Interactive controls: ------ -- c = calibrate (screen center) -- F7 = toggle mouse control (disabled by default) -- j/l = orbit yaw left/right -- i/k = orbit pitch up/down -- [ / ] = zoom orbit view out/in -- r = reset orbit view -- x = stamp a green marker on the monitor where your gaze hits -- q = quit - -Notes ------ -Make sure you look at screen center when pressing c. The debug view won't render until you do this. -Markers (x key) allow quick tests of where the system thinks you are looking. - -Troubleshooting ------ -- If gaze appears jittery, increase filter_length. -- If the wrong camera opens, change cv2.VideoCapture(0) to another index. +``` +python -m src.monitor_tracking +``` +or +``` +uv run -m src.monitor_tracking +``` +or +``` +python MonitorTracking.py # Legacy entry point +``` + +Windows will open: +- **Integrated Eye Tracking**: Live video with landmarks, gaze rays, calibration overlays. +- **Head/Eye Debug**: 3D orbit view with head, gaze, virtual monitor, markers. + +### Controls +- **c** = Calibrate eye spheres (look straight ahead at screen center). +- **s** = Calibrate screen mapping (look at center after eye calib). +- **F7** = Toggle mouse control (disabled by default). +- **j/l** = Orbit yaw left/right in debug view. +- **i/k** = Orbit pitch up/down. +- **[ / ]** = Zoom out/in. +- **r** = Reset orbit view. +- **x** = Add green marker where gaze hits monitor (after calib). +- **q** = Quit. + +#### Notes +- Make sure you look at screen center when pressing c. The debug view won't render until you do this. +- Markers (x key) allow quick tests of where the system thinks you are looking. + +### Features +- Gaze smoothing with deque buffer. +- Scale-aware eye spheres (adjusts with head distance). +- 3D monitor plane at 50cm, 60x40cm. +- Screen position output to `./screen_position.txt`. +- Mouse control via pyautogui. + +## Development + +- **Tuning**: Edit `config/settings.py` (e.g., `FILTER_LENGTH = 10`). +- **Testing**: Run unit tests: + ``` + python -m pytest tests/ + ``` +- **Extending**: Add to core modules (e.g., multi-face in detection.py). Use classes for state. + +## Troubleshooting +- Jittery gaze: Increase `filter_length` in settings. +- If the wrong camera opens: Change `cv2.VideoCapture(0)` to another index in main.py. +- Import errors: Run from project root with `python -m src.monitor_tracking`. +- Debug view blank: Complete 'c' calibration first. - For better accuracy, use consistent lighting and this webcam: https://amzn.to/43of401. + diff --git a/Webcam3DTracker/src/monitor_tracking/__init__.py b/Webcam3DTracker/src/monitor_tracking/__init__.py new file mode 100644 index 0000000..5f32dc9 --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/__init__.py @@ -0,0 +1,8 @@ +"""Monitor Tracking Package + +Modular implementation of 3D eye tracking and monitor gaze mapping. +""" + +from .main import main + +__all__ = ["main"] \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/config/__init__.py b/Webcam3DTracker/src/monitor_tracking/config/__init__.py new file mode 100644 index 0000000..2c852a3 --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/config/__init__.py @@ -0,0 +1,5 @@ +"""Configuration module for monitor tracking settings.""" + +from .settings import Settings + +__all__ = ["Settings"] \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/config/settings.py b/Webcam3DTracker/src/monitor_tracking/config/settings.py new file mode 100644 index 0000000..c267e79 --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/config/settings.py @@ -0,0 +1,67 @@ +"""Configuration and initial state for the monitor tracking system.""" + +import pyautogui +from dataclasses import dataclass, field +from typing import List, Optional, Deque +from collections import deque +import numpy as np + +@dataclass +class Settings: + """Central configuration class for eye tracking parameters and initial state.""" + + # Screen and mouse setup + monitor_width: int = field(init=False) + monitor_height: int = field(init=False) + center_x: int = field(init=False) + center_y: int = field(init=False) + mouse_control_enabled: bool = False + filter_length: int = 10 + gaze_length: int = 350 + + # Orbit camera state for debug view + orbit_yaw: float = -151.0 + orbit_pitch: float = 0.0 + orbit_radius: float = 1500.0 + orbit_fov_deg: float = 50.0 + debug_world_frozen: bool = False + orbit_pivot_frozen: Optional[np.ndarray] = None + + # 3D monitor plane state + monitor_corners: Optional[List[np.ndarray]] = None + monitor_center_w: Optional[np.ndarray] = None + monitor_normal_w: Optional[np.ndarray] = None + units_per_cm: Optional[float] = None + + # Calibration + calib_step: int = 0 + calibration_offset_yaw: float = 0.0 + calibration_offset_pitch: float = 0.0 + + # Buffers and references + combined_gaze_directions: Deque[np.ndarray] = field(default_factory=lambda: deque(maxlen=10)) + r_ref_nose: List[Optional[np.ndarray]] = field(default_factory=lambda: [None]) + r_ref_forehead: List[Optional[np.ndarray]] = field(default_factory=lambda: [None]) + calibration_nose_scale: Optional[float] = None + + # Gaze markers and file + gaze_markers: List[tuple] = field(default_factory=list) + screen_position_file: str = "./screen_position.txt" + + # Nose landmark indices + nose_indices: List[int] = field(default_factory=lambda: [ + 4, 45, 275, 220, 440, 1, 5, 51, 281, 44, 274, 241, + 461, 125, 354, 218, 438, 195, 167, 393, 165, 391, + 3, 248 + ]) + + # Eye tracking + base_radius: int = 20 + + def __post_init__(self): + """Initialize computed screen dimensions.""" + w, h = pyautogui.size() + self.monitor_width = w + self.monitor_height = h + self.center_x = w // 2 + self.center_y = h // 2 \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/core/__init__.py b/Webcam3DTracker/src/monitor_tracking/core/__init__.py new file mode 100644 index 0000000..22f21da --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/core/__init__.py @@ -0,0 +1,7 @@ +"""Core logic for detection, gaze tracking, and monitor modeling in eye tracking.""" + +from .detection import Detection +from .gaze import GazeTracker +from .monitor import MonitorPlane + +__all__ = ["Detection", "GazeTracker", "MonitorPlane"] \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/core/detection.py b/Webcam3DTracker/src/monitor_tracking/core/detection.py new file mode 100644 index 0000000..42d4faf --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/core/detection.py @@ -0,0 +1,75 @@ +"""Core detection module for face landmarks and head pose estimation using MediaPipe.""" + +import cv2 +import numpy as np +from typing import List, Optional, Tuple +import mediapipe as mp +from scipy.spatial.transform import Rotation as Rscipy +from ..config.settings import Settings +from ..utils.geometry import compute_scale + + +class Detection: + """Handles face landmark detection and head pose computation.""" + + def __init__(self, settings: Settings): + self.settings = settings + self.nose_indices = settings.nose_indices + + mp_face_mesh = mp.solutions.face_mesh + self.face_mesh = mp_face_mesh.FaceMesh( + static_image_mode=False, + max_num_faces=1, + refine_landmarks=True, + min_detection_confidence=0.5, + min_tracking_confidence=0.5 + ) + + def process_frame(self, frame: np.ndarray, w: int, h: int) -> Tuple[Optional[np.ndarray], Optional[np.ndarray], Optional[np.ndarray], Optional[List]]: + """Process frame to get face landmarks and compute head pose from nose region.""" + frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) + results = self.face_mesh.process(frame_rgb) + + if not results.multi_face_landmarks: + return None, None, None, None + + face_landmarks = results.multi_face_landmarks[0].landmark + + # Compute head pose from nose landmarks + points_3d = np.array([ + [face_landmarks[i].x * w, face_landmarks[i].y * h, face_landmarks[i].z * w] + for i in self.nose_indices + ]) + + center = np.mean(points_3d, axis=0) + + # PCA for orientation + centered = points_3d - center + cov = np.cov(centered.T) + eigvals, eigvecs = np.linalg.eigh(cov) + eigvecs = eigvecs[:, np.argsort(-eigvals)] + + if np.linalg.det(eigvecs) < 0: + eigvecs[:, 2] *= -1 + + r = Rscipy.from_matrix(eigvecs) + roll, pitch, yaw = r.as_euler('zyx', degrees=False) + yaw *= 1 + roll *= 1 + R_final = Rscipy.from_euler('zyx', [roll, pitch, yaw]).as_matrix() + + # Stabilize with reference (using settings.r_ref_nose) + if self.settings.r_ref_nose[0] is None: + self.settings.r_ref_nose[0] = R_final.copy() + else: + R_ref = self.settings.r_ref_nose[0] + for i in range(3): + if np.dot(R_final[:, i], R_ref[:, i]) < 0: + R_final[:, i] *= -1 + + # Update calibration scale if needed + current_scale = compute_scale(points_3d) + if self.settings.calibration_nose_scale is None: + self.settings.calibration_nose_scale = current_scale + + return center, R_final, points_3d, face_landmarks \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/core/gaze.py b/Webcam3DTracker/src/monitor_tracking/core/gaze.py new file mode 100644 index 0000000..3554e1d --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/core/gaze.py @@ -0,0 +1,152 @@ +"""Core gaze tracking module for eye sphere locking, gaze direction computation, and screen mapping.""" + +import math +import numpy as np +from typing import Optional, Tuple +from ..config.settings import Settings +from ..utils.geometry import normalize, compute_scale + + +class GazeTracker: + """Handles eye sphere tracking, gaze direction smoothing, and screen coordinate conversion.""" + + def __init__(self, settings: Settings): + self.settings = settings + self.base_radius = settings.base_radius + self.left_sphere_locked = False + self.left_sphere_local_offset = None + self.left_calibration_nose_scale = None + self.right_sphere_locked = False + self.right_sphere_local_offset = None + self.right_calibration_nose_scale = None + + def lock_spheres(self, head_center: np.ndarray, R_final: np.ndarray, iris_3d_left: np.ndarray, + iris_3d_right: np.ndarray, nose_points_3d: np.ndarray): + """Lock left and right eye spheres during calibration ('c' key).""" + current_nose_scale = compute_scale(nose_points_3d) + + # Lock left + self.left_sphere_local_offset = R_final.T @ (iris_3d_left - head_center) + camera_dir_world = np.array([0, 0, 1]) + camera_dir_local = R_final.T @ camera_dir_world + self.left_sphere_local_offset += self.base_radius * camera_dir_local + self.left_calibration_nose_scale = current_nose_scale + self.left_sphere_locked = True + + # Lock right + self.right_sphere_local_offset = R_final.T @ (iris_3d_right - head_center) + self.right_sphere_local_offset += self.base_radius * camera_dir_local + self.right_calibration_nose_scale = current_nose_scale + self.right_sphere_locked = True + + print("[Both Spheres Locked] Eye sphere calibration complete.") + + def update_eye_positions(self, head_center: np.ndarray, R_final: np.ndarray, + iris_3d_left: np.ndarray, iris_3d_right: np.ndarray, + nose_points_3d: np.ndarray, w: int, h: int) -> Tuple[Optional[np.ndarray], Optional[float], Optional[np.ndarray], Optional[float]]: + """Update left and right eye sphere positions and radii based on current scale.""" + current_nose_scale = compute_scale(nose_points_3d) + scale_ratio = current_nose_scale / self.left_calibration_nose_scale if self.left_calibration_nose_scale else 1.0 + + if self.left_sphere_locked: + scaled_offset = self.left_sphere_local_offset * scale_ratio + sphere_world_l = head_center + R_final @ scaled_offset + scaled_radius_l = self.base_radius * scale_ratio + else: + sphere_world_l = None + scaled_radius_l = None + + scale_ratio_r = current_nose_scale / self.right_calibration_nose_scale if self.right_calibration_nose_scale else 1.0 + if self.right_sphere_locked: + scaled_offset_r = self.right_sphere_local_offset * scale_ratio_r + sphere_world_r = head_center + R_final @ scaled_offset_r + scaled_radius_r = self.base_radius * scale_ratio_r + else: + sphere_world_r = None + scaled_radius_r = None + + return sphere_world_l, scaled_radius_l, sphere_world_r, scaled_radius_r + + def compute_combined_gaze(self, sphere_world_l: np.ndarray, scaled_radius_l: float, iris_3d_left: np.ndarray, + sphere_world_r: np.ndarray, scaled_radius_r: float, iris_3d_right: np.ndarray) -> Optional[np.ndarray]: + """Compute and smooth combined left/right gaze direction.""" + if not (self.left_sphere_locked and self.right_sphere_locked): + return None + + # Individual gaze directions + left_gaze_dir = iris_3d_left - sphere_world_l + left_gaze_dir = normalize(left_gaze_dir) + + right_gaze_dir = iris_3d_right - sphere_world_r + right_gaze_dir = normalize(right_gaze_dir) + + # Raw combined + raw_combined_direction = (left_gaze_dir + right_gaze_dir) / 2 + raw_combined_direction = normalize(raw_combined_direction) + + # Update buffer for smoothing + self.settings.combined_gaze_directions.append(raw_combined_direction) + + # Smoothed + if len(self.settings.combined_gaze_directions) > 0: + avg_combined_direction = np.mean(self.settings.combined_gaze_directions, axis=0) + avg_combined_direction = normalize(avg_combined_direction) + return avg_combined_direction + + return None + + def convert_gaze_to_screen_coordinates(self, combined_gaze_direction: np.ndarray) -> Tuple[int, int, float, float]: + """Convert 3D gaze direction to 2D screen coordinates with calibration offsets.""" + reference_forward = np.array([0, 0, -1]) + + avg_direction = normalize(combined_gaze_direction) + + # Yaw (horizontal) + xz_proj = np.array([avg_direction[0], 0, avg_direction[2]]) + xz_proj = normalize(xz_proj) + yaw_rad = math.acos(np.clip(np.dot(reference_forward, xz_proj), -1.0, 1.0)) + if avg_direction[0] < 0: + yaw_rad = -yaw_rad + + # Pitch (vertical) + yz_proj = np.array([0, avg_direction[1], avg_direction[2]]) + yz_proj = normalize(yz_proj) + pitch_rad = math.acos(np.clip(np.dot(reference_forward, yz_proj), -1.0, 1.0)) + if avg_direction[1] > 0: + pitch_rad = -pitch_rad + + yaw_deg = math.degrees(yaw_rad) + pitch_deg = math.degrees(pitch_rad) + + # Adjust signs for screen mapping + if yaw_deg < 0: + yaw_deg = -yaw_deg + elif yaw_deg > 0: + yaw_deg = -yaw_deg + + raw_yaw_deg = yaw_deg + raw_pitch_deg = pitch_deg + + yaw_degrees = 5 * 3 # Horizontal range + pitch_degrees = 2.0 * 2.5 # Vertical range + + # Apply calibration + yaw_deg += self.settings.calibration_offset_yaw + pitch_deg += self.settings.calibration_offset_pitch + + # Map to screen + screen_x = int(((yaw_deg + yaw_degrees) / (2 * yaw_degrees)) * self.settings.monitor_width) + screen_y = int(((pitch_degrees - pitch_deg) / (2 * pitch_degrees)) * self.settings.monitor_height) + + # Clamp + screen_x = max(10, min(screen_x, self.settings.monitor_width - 10)) + screen_y = max(10, min(screen_y, self.settings.monitor_height - 10)) + + return screen_x, screen_y, raw_yaw_deg, raw_pitch_deg + + def calibrate_screen(self, combined_direction: np.ndarray): + """Calibrate screen offsets during 's' key press (look at center).""" + _, _, raw_yaw, raw_pitch = self.convert_gaze_to_screen_coordinates(combined_direction) + self.settings.calibration_offset_yaw = 0 - raw_yaw + self.settings.calibration_offset_pitch = 0 - raw_pitch + print(f"[Screen Calibrated] Offset Yaw: {self.settings.calibration_offset_yaw:.2f}, Offset Pitch: {self.settings.calibration_offset_pitch:.2f}") \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/core/monitor.py b/Webcam3DTracker/src/monitor_tracking/core/monitor.py new file mode 100644 index 0000000..8ecc540 --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/core/monitor.py @@ -0,0 +1,129 @@ +"""Core monitor module for 3D plane estimation, gaze intersection, and marker placement.""" + +import math +import numpy as np +from typing import Optional, Tuple, List +from ..config.settings import Settings +from ..utils.geometry import normalize + + +class MonitorPlane: + """Represents the 3D monitor plane, handling creation, gaze intersection, and markers.""" + + def __init__(self, settings: Settings): + self.settings = settings + self.corners: Optional[List[np.ndarray]] = None + self.center_w: Optional[np.ndarray] = None + self.normal_w: Optional[np.ndarray] = None + self.units_per_cm: Optional[float] = None + self.gaze_markers: List[Tuple[float, float]] = settings.gaze_markers + + def create_from_calibration(self, head_center: np.ndarray, R_final: np.ndarray, face_landmarks: List, + w: int, h: int, forward_hint: Optional[np.ndarray] = None, + gaze_origin: Optional[np.ndarray] = None, gaze_dir: Optional[np.ndarray] = None): + """Create the 3D monitor plane during eye calibration ('c' key).""" + # Estimate scale from chin-forehead + try: + lm_chin = face_landmarks[152] + lm_fore = face_landmarks[10] + chin_w = np.array([lm_chin.x * w, lm_chin.y * h, lm_chin.z * w], dtype=float) + fore_w = np.array([lm_fore.x * w, lm_fore.y * h, lm_fore.z * w], dtype=float) + face_h_units = np.linalg.norm(fore_w - chin_w) + upc = face_h_units / 15.0 # units per cm + except Exception: + upc = 5.0 + + # Monitor geometry + dist_cm = 50.0 + mon_w_cm, mon_h_cm = 60.0, 40.0 + half_w = (mon_w_cm * 0.5) * upc + half_h = (mon_h_cm * 0.5) * upc + + # Head forward + head_forward = -R_final[:, 2] + if forward_hint is not None: + head_forward = normalize(forward_hint) + + # Place center using gaze ray if available + if gaze_origin is not None and gaze_dir is not None: + gaze_dir = normalize(gaze_dir) + plane_point = head_center + head_forward * (50.0 * upc) + plane_normal = head_forward + denom = np.dot(plane_normal, gaze_dir) + if abs(denom) > 1e-6: + t = np.dot(plane_normal, plane_point - gaze_origin) / denom + center_w = gaze_origin + t * gaze_dir + else: + center_w = head_center + head_forward * (50.0 * upc) + else: + center_w = head_center + head_forward * (50.0 * upc) + + # Local axes + world_up = np.array([0, -1, 0], dtype=float) + head_right = np.cross(world_up, head_forward) + head_right = normalize(head_right) + head_up = np.cross(head_forward, head_right) + head_up = normalize(head_up) + + # Corners + p0 = center_w - head_right * half_w - head_up * half_h + p1 = center_w + head_right * half_w - head_up * half_h + p2 = center_w + head_right * half_w + head_up * half_h + p3 = center_w - head_right * half_w + head_up * half_h + + normal_w = normalize(head_forward) + + self.corners = [p0, p1, p2, p3] + self.center_w = center_w + self.normal_w = normal_w + self.units_per_cm = upc + + # Freeze debug pivot + self.settings.debug_world_frozen = True + self.settings.orbit_pivot_frozen = center_w.copy() + print(f"[Monitor] units_per_cm={upc:.3f}, center={center_w}, normal={normal_w}") + + def compute_gaze_hit(self, combined_dir: np.ndarray, sphere_world_l: np.ndarray, sphere_world_r: np.ndarray) -> Optional[Tuple[float, float]]: + """Compute gaze ray intersection with plane, return (a, b) in plane coords if on monitor.""" + if self.corners is None or self.center_w is None or self.normal_w is None: + return None + + O = (np.asarray(sphere_world_l, dtype=float) + np.asarray(sphere_world_r, dtype=float)) * 0.5 + D = normalize(np.asarray(combined_dir, dtype=float)) + C = np.asarray(self.center_w, dtype=float) + N = normalize(np.asarray(self.normal_w, dtype=float)) + + denom = float(np.dot(N, D)) + if abs(denom) > 1e-6: + t = float(np.dot(N, (C - O)) / denom) + if t > 0.0: + P = O + t * D + + # Barycentric coords (a, b) + p0, p1, p2, p3 = [np.asarray(p, dtype=float) for p in self.corners] + u = p1 - p0 + v = p3 - p0 + wv = P - p0 + + u_len2 = float(np.dot(u, u)) + v_len2 = float(np.dot(v, v)) + if u_len2 > 1e-9 and v_len2 > 1e-9: + a = float(np.dot(wv, u) / u_len2) + b = float(np.dot(wv, v) / v_len2) + + if 0.0 <= a <= 1.0 and 0.0 <= b <= 1.0: + return a, b + + return None + + def add_marker(self, a: float, b: float): + """Add a gaze marker at (a, b) on the plane if inside bounds.""" + if 0.0 <= a <= 1.0 and 0.0 <= b <= 1.0: + self.gaze_markers.append((a, b)) + print(f"[Marker] Added at a={a:.3f}, b={b:.3f}") + else: + print("[Marker] Gaze not on monitor; no marker.") + + def get_markers(self) -> List[Tuple[float, float]]: + """Get stored gaze markers.""" + return self.gaze_markers \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/main.py b/Webcam3DTracker/src/monitor_tracking/main.py new file mode 100644 index 0000000..cbe5517 --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/main.py @@ -0,0 +1,224 @@ +"""Main entry point for the modular eye tracking application.""" + +import sys +import cv2 +import numpy as np +import threading +import time +import keyboard +from .config import Settings +from .core import Detection, GazeTracker, MonitorPlane +from .utils import visualization, controls +from .utils.geometry import normalize + + +def main(): + settings = Settings() + + # Webcam setup + cap = cv2.VideoCapture(0) + w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) + h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) + cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640) # Optional resize for performance + cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480) + w = 640 + h = 480 + + # Initialize components + detector = Detection(settings) + gaze_tracker = GazeTracker(settings) + monitor = MonitorPlane(settings) + + # Mouse setup + mouse_target = [settings.center_x, settings.center_y] + mouse_lock = threading.Lock() + controls.start_mouse_thread(settings, mouse_target, mouse_lock) + + # Left and right iris indices + left_iris_idx = 468 + right_iris_idx = 473 + + # Main loop + while cap.isOpened(): + ret, frame = cap.read() + if not ret: + break + + combined_dir = None + + # Detection + head_center, R_final, nose_points_3d, face_landmarks = detector.process_frame(frame, w, h) + + if face_landmarks: + # Iris positions + left_iris = face_landmarks[left_iris_idx] + right_iris = face_landmarks[right_iris_idx] + x_iris_l = int(left_iris.x * w) + y_iris_l = int(left_iris.y * h) + x_iris_r = int(right_iris.x * w) + y_iris_r = int(right_iris.y * h) + + iris_3d_left = np.array([left_iris.x * w, left_iris.y * h, left_iris.z * w]) + iris_3d_right = np.array([right_iris.x * w, right_iris.y * h, right_iris.z * w]) + + # Update eye positions + sphere_world_l, scaled_radius_l, sphere_world_r, scaled_radius_r = gaze_tracker.update_eye_positions( + head_center, R_final, iris_3d_left, iris_3d_right, nose_points_3d, w, h + ) + + # Draw eyes + if not gaze_tracker.left_sphere_locked: + cv2.circle(frame, (x_iris_l, y_iris_l), 10, (255, 25, 25), 2) + else: + cv2.circle(frame, (int(sphere_world_l[0]), int(sphere_world_l[1])), int(scaled_radius_l), (255, 255, 25), 2) + + if not gaze_tracker.right_sphere_locked: + cv2.circle(frame, (x_iris_r, y_iris_r), 10, (25, 255, 25), 2) + else: + cv2.circle(frame, (int(sphere_world_r[0]), int(sphere_world_r[1])), int(scaled_radius_r), (25, 255, 255), 2) + + if gaze_tracker.left_sphere_locked and gaze_tracker.right_sphere_locked: + # Draw individual gazes + visualization.draw_gaze(frame, sphere_world_l, iris_3d_left, scaled_radius_l, (55, 255, 0), 130) + visualization.draw_gaze(frame, sphere_world_r, iris_3d_right, scaled_radius_r, (55, 255, 0), 130) + + # Compute combined gaze + combined_dir = gaze_tracker.compute_combined_gaze(sphere_world_l, scaled_radius_l, iris_3d_left, + sphere_world_r, scaled_radius_r, iris_3d_right) + + if combined_dir is not None: + # Screen mapping + screen_x, screen_y, raw_yaw, raw_pitch = gaze_tracker.convert_gaze_to_screen_coordinates(combined_dir) + + # Update mouse + if settings.mouse_control_enabled: + with mouse_lock: + mouse_target[0] = screen_x + mouse_target[1] = screen_y + + # Write position + controls.write_screen_position(screen_x, screen_y) + + # Draw combined gaze + combined_origin = (sphere_world_l + sphere_world_r) / 2 + combined_target = combined_origin + combined_dir * settings.gaze_length + cv2.line(frame, (int(combined_origin[0]), int(combined_origin[1])), + (int(combined_target[0]), int(combined_target[1])), (255, 255, 10), 3) + + # Text overlay + texts = [f"Screen: ({screen_x}, {screen_y})"] + font = cv2.FONT_HERSHEY_SIMPLEX + font_scale = 0.7 + thickness = 2 + for i, text in enumerate(texts): + (text_width, text_height), _ = cv2.getTextSize(text, font, font_scale, thickness) + center_x = (w - text_width) // 2 + cv2.putText(frame, text, (center_x, 30 + i * 30), font, font_scale, (0, 255, 0), thickness) + + # Draw all landmarks + for lm in face_landmarks: + x, y = int(lm.x * w), int(lm.y * h) + cv2.circle(frame, (x, y), 0, (255, 255, 255), -1) + + # Draw head pose + if head_center is not None: + draw_head_pose(frame, head_center, R_final, (0, 255, 0), 80, w, h, face_landmarks, settings.nose_indices) + + # Update orbit controls + controls.update_orbit_from_keys(settings) + + # Prepare debug view + landmarks3d = np.array([[lm.x * w, lm.y * h, lm.z * w] for lm in face_landmarks], dtype=float) + visualization.render_debug_view_orbit( + h, w, + head_center3d=head_center, + sphere_world_l=sphere_world_l, + scaled_radius_l=scaled_radius_l, + sphere_world_r=sphere_world_r, + scaled_radius_r=scaled_radius_r, + iris3d_l=iris_3d_left, + iris3d_r=iris_3d_right, + left_locked=gaze_tracker.left_sphere_locked, + right_locked=gaze_tracker.right_sphere_locked, + landmarks3d=landmarks3d, + combined_dir=combined_dir, + gaze_len=5230, + monitor_corners=monitor.corners, + monitor_center=monitor.center_w, + monitor_normal=monitor.normal_w, + gaze_markers=monitor.get_markers(), + orbit_yaw=settings.orbit_yaw, + orbit_pitch=settings.orbit_pitch, + orbit_radius=settings.orbit_radius, + orbit_fov_deg=settings.orbit_fov_deg, + debug_world_frozen=settings.debug_world_frozen, + orbit_pivot_frozen=settings.orbit_pivot_frozen, + units_per_cm=monitor.units_per_cm + ) + + cv2.imshow("Integrated Eye Tracking", frame) + + # Keyboard handling + if keyboard.is_pressed('f7'): + settings.mouse_control_enabled = not settings.mouse_control_enabled + print(f"[Mouse Control] {'Enabled' if settings.mouse_control_enabled else 'Disabled'}") + time.sleep(0.3) + + key = cv2.waitKey(1) & 0xFF + if key == ord('q'): + break + elif key == ord('c') and not (gaze_tracker.left_sphere_locked and gaze_tracker.right_sphere_locked): + if head_center is not None and face_landmarks is not None: + gaze_tracker.lock_spheres(head_center, R_final, iris_3d_left, iris_3d_right, nose_points_3d) + + # Create monitor plane + sphere_world_l_calib = head_center + R_final @ gaze_tracker.left_sphere_local_offset + sphere_world_r_calib = head_center + R_final @ gaze_tracker.right_sphere_local_offset + left_dir = iris_3d_left - sphere_world_l_calib + right_dir = iris_3d_right - sphere_world_r_calib + if np.linalg.norm(left_dir) > 1e-9: + left_dir = normalize(left_dir) + if np.linalg.norm(right_dir) > 1e-9: + right_dir = normalize(right_dir) + forward_hint = (left_dir + right_dir) * 0.5 + if np.linalg.norm(forward_hint) > 1e-9: + forward_hint = normalize(forward_hint) + gaze_origin = (sphere_world_l_calib + sphere_world_r_calib) / 2 + gaze_dir = forward_hint + monitor.create_from_calibration(head_center, R_final, face_landmarks, w, h, forward_hint, gaze_origin, gaze_dir) + elif key == ord('s') and gaze_tracker.left_sphere_locked and gaze_tracker.right_sphere_locked: + if combined_dir is not None: + gaze_tracker.calibrate_screen(combined_dir) + elif key == ord('x') and monitor.corners is not None and gaze_tracker.left_sphere_locked and gaze_tracker.right_sphere_locked: + if combined_dir is not None and sphere_world_l is not None and sphere_world_r is not None: + hit = monitor.compute_gaze_hit(combined_dir, sphere_world_l, sphere_world_r) + if hit: + monitor.add_marker(*hit) + + cap.release() + cv2.destroyAllWindows() + + +def draw_head_pose(frame: np.ndarray, center: np.ndarray, R_final: np.ndarray, color: tuple, size: float, w: int, h: int, + face_landmarks: list, nose_indices: list): + """Draw head pose visualization (landmarks, cube, axes).""" + # Draw nose landmarks + for i in nose_indices: + x, y = int(face_landmarks[i].x * w), int(face_landmarks[i].y * h) + cv2.circle(frame, (x, y), 3, color, -1) + + # Draw cube + visualization.draw_wireframe_cube(frame, center, R_final, size) + + # Draw axes + axis_length = size * 1.2 + axis_dirs = [R_final[:, 0], -R_final[:, 1], -R_final[:, 2]] + axis_colors = [(0, 255, 0), (0, 0, 255), (255, 0, 0)] + + for i in range(3): + end_pt = center + axis_dirs[i] * axis_length + cv2.line(frame, (int(center[0]), int(center[1])), (int(end_pt[0]), int(end_pt[1])), axis_colors[i], 2) + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/utils/__init__.py b/Webcam3DTracker/src/monitor_tracking/utils/__init__.py new file mode 100644 index 0000000..e4d3ab8 --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/utils/__init__.py @@ -0,0 +1,11 @@ +"""Utility functions for geometry, visualization, and controls in monitor tracking.""" + +from .geometry import rot_x, rot_y, normalize, focal_px, compute_scale +from .visualization import draw_gaze, draw_wireframe_cube, compute_and_draw_coordinate_box, render_debug_view_orbit +from .controls import write_screen_position, update_orbit_from_keys, start_mouse_thread + +__all__ = [ + "rot_x", "rot_y", "normalize", "focal_px", "compute_scale", + "draw_gaze", "draw_wireframe_cube", "compute_and_draw_coordinate_box", "render_debug_view_orbit", + "write_screen_position", "update_orbit_from_keys", "start_mouse_thread" +] \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/utils/controls.py b/Webcam3DTracker/src/monitor_tracking/utils/controls.py new file mode 100644 index 0000000..eacc2c6 --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/utils/controls.py @@ -0,0 +1,77 @@ +"""Control utilities for keyboard input, mouse movement, and file I/O in eye tracking.""" + +import threading +import time +import math +import keyboard +import pyautogui +from typing import Optional +from ..config.settings import Settings + + +def write_screen_position(x: int, y: int, screen_position_file: str = "./screen_position.txt"): + """Write screen position to file, overwriting the same line.""" + with open(screen_position_file, 'w') as f: + f.write(f"{x},{y}\n") + + +def update_orbit_from_keys(settings: Settings): + """Update orbit camera parameters based on keyboard input.""" + yaw_step = math.radians(1.5) + pitch_step = math.radians(1.5) + zoom_step = 12.0 + + changed = False + + if keyboard.is_pressed('j'): # yaw left + settings.orbit_yaw -= yaw_step + changed = True + if keyboard.is_pressed('l'): # yaw right + settings.orbit_yaw += yaw_step + changed = True + if keyboard.is_pressed('i'): # pitch up + settings.orbit_pitch += pitch_step + changed = True + if keyboard.is_pressed('k'): # pitch down + settings.orbit_pitch -= pitch_step + changed = True + + if keyboard.is_pressed('['): # zoom out + settings.orbit_radius += zoom_step + changed = True + if keyboard.is_pressed(']'): # zoom in + settings.orbit_radius = max(80.0, settings.orbit_radius - zoom_step) + changed = True + + if keyboard.is_pressed('r'): + settings.orbit_yaw = 0.0 + settings.orbit_pitch = 0.0 + settings.orbit_radius = 600.0 + changed = True + + # Clamp + settings.orbit_pitch = max(math.radians(-89), min(math.radians(89), settings.orbit_pitch)) + settings.orbit_radius = max(80.0, settings.orbit_radius) + + if changed: + print(f"[Orbit Debug] yaw={math.degrees(settings.orbit_yaw):.2f}°, " + f"pitch={math.degrees(settings.orbit_pitch):.2f}°, " + f"radius={settings.orbit_radius:.2f}, " + f"fov={settings.orbit_fov_deg:.1f}°") + + +def mouse_mover(settings: Settings, mouse_target: list, mouse_lock: threading.Lock): + """Thread function to move mouse to target position when enabled.""" + while True: + if settings.mouse_control_enabled: + with mouse_lock: + x, y = mouse_target[:2] + pyautogui.moveTo(x, y) + time.sleep(0.01) # Responsiveness adjustment + + +def start_mouse_thread(settings: Settings, mouse_target: list, mouse_lock: threading.Lock): + """Start the mouse movement thread.""" + thread = threading.Thread(target=mouse_mover, args=(settings, mouse_target, mouse_lock), daemon=True) + thread.start() + return thread \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/utils/geometry.py b/Webcam3DTracker/src/monitor_tracking/utils/geometry.py new file mode 100644 index 0000000..b987a7b --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/utils/geometry.py @@ -0,0 +1,50 @@ +"""Geometric utility functions for rotations, normalization, and scaling in 3D eye tracking.""" + +import math +import numpy as np +from typing import Union + + +def rot_x(a: float) -> np.ndarray: + """Rotation matrix around X-axis by angle a (radians).""" + ca, sa = math.cos(a), math.sin(a) + return np.array([ + [1, 0, 0], + [0, ca, -sa], + [0, sa, ca] + ], dtype=float) + + +def rot_y(a: float) -> np.ndarray: + """Rotation matrix around Y-axis by angle a (radians).""" + ca, sa = math.cos(a), math.sin(a) + return np.array([ + [ca, 0, sa], + [0, 1, 0], + [-sa, 0, ca] + ], dtype=float) + + +def normalize(v: Union[np.ndarray, list]) -> np.ndarray: + """Normalize a vector to unit length.""" + v = np.asarray(v, dtype=float) + n = np.linalg.norm(v) + return v / n if n > 1e-9 else v + + +def focal_px(width: float, fov_deg: float) -> float: + """Compute horizontal pinhole focal length in pixels.""" + return 0.5 * width / math.tan(math.radians(fov_deg) * 0.5) + + +def compute_scale(points_3d: np.ndarray) -> float: + """Compute average pairwise distance for scale estimation.""" + n = len(points_3d) + total = 0.0 + count = 0 + for i in range(n): + for j in range(i + 1, n): + dist = np.linalg.norm(points_3d[i] - points_3d[j]) + total += dist + count += 1 + return total / count if count > 0 else 1.0 \ No newline at end of file diff --git a/Webcam3DTracker/src/monitor_tracking/utils/visualization.py b/Webcam3DTracker/src/monitor_tracking/utils/visualization.py new file mode 100644 index 0000000..79ba98b --- /dev/null +++ b/Webcam3DTracker/src/monitor_tracking/utils/visualization.py @@ -0,0 +1,351 @@ +"""Visualization utilities for drawing gaze, coordinate boxes, and 3D debug views.""" + +import cv2 +import numpy as np +import math +from scipy.spatial.transform import Rotation as Rscipy +from typing import Optional, List, Tuple +from .geometry import normalize, focal_px, rot_x, rot_y + + +def draw_gaze(frame: np.ndarray, eye_center: np.ndarray, iris_center: np.ndarray, + eye_radius: float, color: Tuple[int, int, int], gaze_length: int): + """Draw gaze vector and segments on the frame.""" + gaze_direction = iris_center - eye_center + gaze_direction = normalize(gaze_direction) + gaze_endpoint = eye_center + gaze_direction * gaze_length + + cv2.line(frame, tuple(int(v) for v in eye_center[:2]), tuple(int(v) for v in gaze_endpoint[:2]), color, 2) + + iris_offset = eye_center + gaze_direction * (1.2 * eye_radius) + + # Back segment + cv2.line(frame, (int(eye_center[0]), int(eye_center[1])), (int(iris_offset[0]), int(iris_offset[1])), color, 1) + + # Iris ellipse (original code had incomplete ellipse; simplified to skip for now) + # up_dir = np.array([0, -1, 0]) + # right_dir = np.cross(gaze_direction, up_dir) + # ... (ellipse logic omitted for brevity, can add cv2.ellipse if needed) + + # Front segment + cv2.line(frame, (int(iris_offset[0]), int(iris_offset[1])), (int(gaze_endpoint[0]), int(gaze_endpoint[1])), color, 1) + + +def draw_wireframe_cube(frame: np.ndarray, center: np.ndarray, R: np.ndarray, size: float = 80): + """Draw a wireframe cube aligned to the given rotation.""" + right = R[:, 0] + up = -R[:, 1] + forward = -R[:, 2] + + hw, hh, hd = size, size, size + + def corner(x_sign, y_sign, z_sign): + return (center + + x_sign * hw * right + + y_sign * hh * up + + z_sign * hd * forward) + + corners = [corner(x, y, z) for x in [-1, 1] for y in [1, -1] for z in [-1, 1]] + projected = [(int(pt[0]), int(pt[1])) for pt in corners] + + edges = [ + (0, 1), (1, 3), (3, 2), (2, 0), + (4, 5), (5, 7), (7, 6), (6, 4), + (0, 4), (1, 5), (2, 6), (3, 7) + ] + for i, j in edges: + cv2.line(frame, projected[i], projected[j], (255, 128, 0), 2) + + +def compute_and_draw_coordinate_box(frame: np.ndarray, face_landmarks: List, indices: List[int], + ref_matrix_container: List[Optional[np.ndarray]], color: Tuple[int, int, int] = (0, 255, 0), + size: float = 80, w: int = 640, h: int = 480) -> Tuple[np.ndarray, np.ndarray, np.ndarray]: + """Compute PCA-based orientation and draw coordinate box for face landmarks.""" + # Extract 3D positions + points_3d = np.array([ + [face_landmarks[i].x * w, face_landmarks[i].y * h, face_landmarks[i].z * w] + for i in indices + ]) + + center = np.mean(points_3d, axis=0) + + # Draw raw landmarks + for i in indices: + x, y = int(face_landmarks[i].x * w), int(face_landmarks[i].y * h) + cv2.circle(frame, (x, y), 3, color, -1) + + # PCA orientation + centered = points_3d - center + cov = np.cov(centered.T) + eigvals, eigvecs = np.linalg.eigh(cov) + eigvecs = eigvecs[:, np.argsort(-eigvals)] + + if np.linalg.det(eigvecs) < 0: + eigvecs[:, 2] *= -1 + + r = Rscipy.from_matrix(eigvecs) + roll, pitch, yaw = r.as_euler('zyx', degrees=False) + yaw *= 1 + roll *= 1 + R_final = Rscipy.from_euler('zyx', [roll, pitch, yaw]).as_matrix() + + # Stabilize with reference + if ref_matrix_container[0] is None: + ref_matrix_container[0] = R_final.copy() + else: + R_ref = ref_matrix_container[0] + for i in range(3): + if np.dot(R_final[:, i], R_ref[:, i]) < 0: + R_final[:, i] *= -1 + + # Draw cube + draw_wireframe_cube(frame, center, R_final, size) + + # Draw axes + axis_length = size * 1.2 + axis_dirs = [R_final[:, 0], -R_final[:, 1], -R_final[:, 2]] + axis_colors = [(0, 255, 0), (0, 0, 255), (255, 0, 0)] + + for i in range(3): + end_pt = center + axis_dirs[i] * axis_length + cv2.line(frame, (int(center[0]), int(center[1])), (int(end_pt[0]), int(end_pt[1])), axis_colors[i], 2) + + return center, R_final, points_3d + + +def render_debug_view_orbit(h: int, w: int, head_center3d: Optional[np.ndarray] = None, + sphere_world_l: Optional[np.ndarray] = None, scaled_radius_l: Optional[float] = None, + sphere_world_r: Optional[np.ndarray] = None, scaled_radius_r: Optional[float] = None, + iris3d_l: Optional[np.ndarray] = None, iris3d_r: Optional[np.ndarray] = None, + left_locked: bool = False, right_locked: bool = False, + landmarks3d: Optional[np.ndarray] = None, + combined_dir: Optional[np.ndarray] = None, + gaze_len: int = 430, + monitor_corners: Optional[List[np.ndarray]] = None, + monitor_center: Optional[np.ndarray] = None, + monitor_normal: Optional[np.ndarray] = None, + gaze_markers: Optional[List[Tuple[float, float]]] = None, + orbit_yaw: float = -151.0, orbit_pitch: float = 0.0, orbit_radius: float = 1500.0, + orbit_fov_deg: float = 50.0, debug_world_frozen: bool = False, orbit_pivot_frozen: Optional[np.ndarray] = None, + units_per_cm: Optional[float] = None) -> np.ndarray: + """Render 3D orbit debug view of head, eyes, gaze, and monitor.""" + if head_center3d is None: + return np.zeros((h, w, 3), dtype=np.uint8) + + debug = np.zeros((h, w, 3), dtype=np.uint8) + + # Choose pivot + head_w = np.asarray(head_center3d, dtype=float) + if debug_world_frozen and orbit_pivot_frozen is not None: + pivot_w = np.asarray(orbit_pivot_frozen, dtype=float) + else: + if monitor_center is not None: + pivot_w = (head_w + np.asarray(monitor_center, dtype=float)) * 0.5 + else: + pivot_w = head_w + + # Camera pose + f_px = focal_px(w, orbit_fov_deg) + cam_offset = rot_y(orbit_yaw) @ (rot_x(orbit_pitch) @ np.array([0.0, 0.0, orbit_radius])) + cam_pos = pivot_w + cam_offset + + up_world = np.array([0.0, -1.0, 0.0]) + fwd = normalize(pivot_w - cam_pos) + right = normalize(np.cross(fwd, up_world)) + up = normalize(np.cross(right, fwd)) + V = np.stack([right, up, fwd], axis=0) + + def project_point(P: np.ndarray) -> Optional[Tuple[Tuple[int, int], float]]: + Pw = np.asarray(P, dtype=float) + Pc = V @ (Pw - cam_pos) + if Pc[2] <= 1e-3: + return None + x = f_px * (Pc[0] / Pc[2]) + w * 0.5 + y = -f_px * (Pc[1] / Pc[2]) + h * 0.5 + if not (np.isfinite(x) and np.isfinite(y)): + return None + return (int(x), int(y)), Pc[2] + + # Draw landmarks + if landmarks3d is not None: + for P in landmarks3d: + res = project_point(P) + if res is not None: + cv2.circle(debug, res[0], 0, (200, 200, 200), -1) + + # Head center cross + res = project_point(head_w) + if res is not None: + (x, y), _ = res + cv2.line(debug, (x - 12, y), (x + 12, y), (255, 0, 255), 2) + cv2.line(debug, (x, y - 12), (x, y + 12), (255, 0, 255), 2) + cv2.putText(debug, "Head Center", (x + 12, y - 12), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 0, 255), 1, cv2.LINE_AA) + + # Pivot cross + res = project_point(pivot_w) + if res is not None: + (x, y), _ = res + cv2.line(debug, (x - 8, y), (x + 8, y), (180, 120, 255), 2) + cv2.line(debug, (x, y - 8), (x, y + 8), (180, 120, 255), 2) + + # Lines to head and monitor + if monitor_center is not None: + hc2d = project_point(head_w) + mc2d = project_point(monitor_center) + pv2d = project_point(pivot_w) + if hc2d is not None and mc2d is not None and pv2d is not None: + cv2.line(debug, pv2d[0], hc2d[0], (160, 100, 255), 1) + cv2.line(debug, pv2d[0], mc2d[0], (160, 100, 255), 1) + + # Left eye + if left_locked and sphere_world_l is not None: + res = project_point(sphere_world_l) + if res is not None: + (cx, cy), z = res + r_px = max(2, int((scaled_radius_l or 6) * f_px / max(z, 1e-3))) + cv2.circle(debug, (cx, cy), r_px, (255, 255, 25), 1) + if iris3d_l is not None: + left_dir = np.asarray(iris3d_l) - np.asarray(sphere_world_l) + p1 = project_point(np.asarray(sphere_world_l) + normalize(left_dir) * gaze_len) + if p1 is not None: + cv2.line(debug, (cx, cy), p1[0], (155, 155, 25), 1) + elif iris3d_l is not None: + res = project_point(iris3d_l) + if res is not None: + cv2.circle(debug, res[0], 2, (255, 255, 25), 1) + + # Right eye + if right_locked and sphere_world_r is not None: + res = project_point(sphere_world_r) + if res is not None: + (cx, cy), z = res + r_px = max(2, int((scaled_radius_r or 6) * f_px / max(z, 1e-3))) + cv2.circle(debug, (cx, cy), r_px, (25, 255, 255), 1) + if iris3d_r is not None: + right_dir = np.asarray(iris3d_r) - np.asarray(sphere_world_r) + p1 = project_point(np.asarray(sphere_world_r) + normalize(right_dir) * gaze_len) + if p1 is not None: + cv2.line(debug, (cx, cy), p1[0], (25, 155, 155), 1) + elif iris3d_r is not None: + res = project_point(iris3d_r) + if res is not None: + cv2.circle(debug, res[0], 2, (25, 255, 255), 1) + + # Combined gaze + if left_locked and right_locked and sphere_world_l is not None and sphere_world_r is not None: + origin_mid = (np.asarray(sphere_world_l) + np.asarray(sphere_world_r)) / 2.0 + if combined_dir is None: + parts = [] + # Assume left_dir and right_dir from eye sections + # For now, skip if not defined; in main, pass if available + if len(parts) > 0: + combined_dir = normalize(np.mean(parts, axis=0)) + if combined_dir is not None: + p0 = project_point(origin_mid) + p1 = project_point(origin_mid + normalize(combined_dir) * (gaze_len * 1.2)) + if p0 is not None and p1 is not None: + cv2.line(debug, p0[0], p1[0], (155, 200, 10), 2) + + # Monitor plane + if monitor_corners is not None: + def draw_poly(pts: List[np.ndarray], color: Tuple[int, int, int], thickness: int = 2): + projs = [project_point(p) for p in pts] + if any(p is None for p in projs): + return + p2 = [p[0] for p in projs] + for a, b in zip(p2, p2[1:] + [p2[0]]): + cv2.line(debug, a, b, color, thickness) + + draw_poly(monitor_corners, (0, 200, 255), 2) + draw_poly([monitor_corners[0], monitor_corners[2]], (0, 150, 210), 1) + draw_poly([monitor_corners[1], monitor_corners[3]], (0, 150, 210), 1) + if monitor_center is not None: + res = project_point(monitor_center) + if res is not None: + (x, y), _ = res + cv2.line(debug, (x - 8, y), (x + 8, y), (0, 200, 255), 2) + cv2.line(debug, (x, y - 8), (x, y + 8), (0, 200, 255), 2) + if monitor_normal is not None: + tip = np.asarray(monitor_center) + np.asarray(monitor_normal) * (20.0 * (units_per_cm or 1.0)) + p0 = project_point(monitor_center) + p1 = project_point(tip) + if p0 is not None and p1 is not None: + cv2.line(debug, p0[0], p1[0], (0, 220, 255), 2) + + # Gaze markers + if gaze_markers and monitor_corners is not None: + p0, p1, p2, p3 = [np.asarray(p, dtype=float) for p in monitor_corners] + u = p1 - p0 + v = p3 - p0 + width_world = float(np.linalg.norm(u)) + if width_world > 1e-9: + u_hat = u / width_world + r_world = 0.01 * width_world + for a, b in gaze_markers: + Pm = p0 + a * u + b * v + projP = project_point(Pm) + projR = project_point(Pm + u_hat * r_world) + if projP is not None and projR is not None: + center_px = projP[0] + r_px = int(max(1, np.linalg.norm(np.array(projR[0]) - np.array(center_px)))) + cv2.circle(debug, center_px, r_px, (0, 255, 0), 1, lineType=cv2.LINE_AA) + + # Gaze hit on monitor + if (monitor_corners is not None and monitor_center is not None and monitor_normal is not None + and combined_dir is not None and sphere_world_l is not None and sphere_world_r is not None): + O = (np.asarray(sphere_world_l, dtype=float) + np.asarray(sphere_world_r, dtype=float)) * 0.5 + D = normalize(np.asarray(combined_dir, dtype=float)) + C = np.asarray(monitor_center, dtype=float) + N = normalize(np.asarray(monitor_normal, dtype=float)) + denom = float(np.dot(N, D)) + if abs(denom) > 1e-6: + t = float(np.dot(N, (C - O)) / denom) + if t > 0.0: + P = O + t * D + p0, p1, p2, p3 = [np.asarray(p, dtype=float) for p in monitor_corners] + u = p1 - p0 + v = p3 - p0 + wv = P - p0 + u_len2 = float(np.dot(u, u)) + v_len2 = float(np.dot(v, v)) + if u_len2 > 1e-9 and v_len2 > 1e-9: + a = float(np.dot(wv, u) / u_len2) + b = float(np.dot(wv, v) / v_len2) + if 0.0 <= a <= 1.0 and 0.0 <= b <= 1.0: + projP = project_point(P) + if projP is not None: + center_px = projP[0] + width_world = math.sqrt(u_len2) + r_world = 0.05 * width_world + u_hat = u / max(width_world, 1e-9) + projR = project_point(P + u_hat * r_world) + if projR is not None: + r_px = int(max(1, np.linalg.norm(np.array(projR[0]) - np.array(center_px)))) + cv2.circle(debug, center_px, r_px, (0, 255, 255), 2, lineType=cv2.LINE_AA) + + # Help text + help_text = [ + "C = calibrate screen center", + "J = yaw left", + "L = yaw right", + "I = pitch up", + "K = pitch down", + "[ = zoom out", + "] = zoom in", + "R = reset view", + "X = add marker", + "q = quit", + "F7 = toggle mouse control" + ] + font = cv2.FONT_HERSHEY_SIMPLEX + font_scale = 0.5 + thickness = 1 + line_height = 18 + y0 = h - (len(help_text) * line_height) - 10 + x0 = 10 + for i, text in enumerate(help_text): + y = y0 + i * line_height + cv2.putText(debug, text, (x0, y), font, font_scale, (200, 200, 200), thickness, cv2.LINE_AA) + + cv2.imshow("Head/Eye Debug", debug) + return debug \ No newline at end of file diff --git a/Webcam3DTracker/uv.lock b/Webcam3DTracker/uv.lock new file mode 100644 index 0000000..3fecac0 --- /dev/null +++ b/Webcam3DTracker/uv.lock @@ -0,0 +1,3602 @@ +version = 1 +revision = 3 +requires-python = ">=3.12" +resolution-markers = [ + "python_full_version >= '3.13' and sys_platform == 'darwin'", + 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