gazr is a library and a set of tools for real-time gaze estimation from a monocular camera (typically, a webcam).

Currently, it only performs 6D head pose estimation. Eye orientation based on pupil tracking is being worked on.

If you plan to use this library for academic purposes, we kindly request you to cite our work.

This library (libhead_pose_estimation.so) performs 3D head pose estimation based on the fantastic dlib face detector and a bit of OpenCV's solvePnP magic (it uses adult male anthropometric data to match a real 3D head to the projected image).

The library returns a 4x4 transformation matrix.

It supports detection and tracking of multiple faces at the same time, and runs on-line, but it does not feature face identification.

Note: The library has only been tested on Linux. We can only provide limited support for other operating systems!

You need to download and extract Dlib somewhere. This application requires dlib >= 18.18. On Ubuntu 16.04 and above, sudo apt-get install libdlib-dev

You also need OpenCV. On Ubuntu, sudo apt-get install libopencv-dev.

The library uses a standard CMake workflow:

$ mkdir build && cd build
$ cmake ..
$ make

Run ./gazr_show_head_pose ../share/shape_predictor_68_face_landmarks.dat to test the library. You should get something very similar to the picture above.

Finally, to install the library:

$ make install

The ROS wrapper provides a convenient node that exposes each detected face as a TF frame.

Enable the compilation of the ROS wrapper with:

cmake -DWITH_ROS=ON