gazetracking

Eye gaze tracking using Pupil Labs head-mounted tracker.

Publishing gaze positions with ROS

Start Pupil Capture. Ensure that the Pupil Remote plugin is running (available in Pupil Capture under "General" -> "Open plugin").

Ensure that the Pupil Remote IP and port are set to match the values in pupil_listener.py (usually tcp://127.0.0.1:50020).

Run the pupil listener:

rosrun gazetracking pupil_listener.py

This should publish information on two ROS topics: pupil_info and gaze_info. The gaze_info topic contains a subset of the information from pupil_info that is most commonly used, specifically the position of the gaze (norm_pos) and the confidence value (confidence).

For more information about the data contained in pupil_info, see the Pupil Capture website here: https://github.com/pupil-labs/pupil/wiki/Data-Format.