Pupil ROS

This ROS package maps user's gaze data from the Pupil Labs eye tracker, onto a different video feed, using markers and feature matching.

Requirements

1. Ubuntu 16.04

2. ROS Kinetic installation. Older versions may work but are not tested.

Installation

1. Install Pupil Capture Download here

2. Install pip

   sudo apt-get install python-pip

   sudo pip install --upgrade pip

3. Install zmq

   sudo pip install pyzmq

4. Install sox

   sudo apt-get install sox

5. Place the folder pupil_ros to your catkin workspace, and build the ROS package.

   cd Path/To/catkin_ws

   catkin_make

   source devel/setup.bash

   This will build six custom ROS messages: pupil, pupil_positions, gaze, gaze_positions, surface_position, accu

6. Print markers

   Print the QR-code like trackers. They can be found inside the markers/ folder

Using the package

1. Make pupil_zmq_ros_pub.py executable

   cd to the installed pupil_ros package in your catkin workspace:

   cd ~/catkin_ws/src/pupil_ros/scripts

   chmod +x pupil_zmq_ros_pub.py main_run_v4.py audio_output.py start_pupil.py

2. Launch ROS package:

   roslaunch pupil_ros pupil_ros.launch

   Pupil Capture will launch automatically.

3. Set correct settings in Pupil Remote:

• Load plugin Pupil_Remote and Frame_Publisher

• Set localhost to 50010

• Set Frame Publisher to bgr

4. Calibrate Pupil Remote

   Calibrate the eye tracker using a calibration method of your choice.

How to grab the accuracy data

1. Setup rosbag record

   rosbag record matcher/gaze_accu

2. Quit recording when ready

3. Make csv file with custom BAGFILE_NAME and LOGFILE_NAME (or logfile.txt)

   rostopic echo -b BAGFILE_NAME.bag -p /matcher/gaze_accu > LOGFILE_NAME.csv

License

This software is released under the Apache 2.0 license.