This Unity project receives data from Tobii Glasses 3. It displays gaze information (pixel coordinates, eyes origin, direction and pupils diameter) and camera feed with gaze fixation. This data is sent to ROS with ROS-TCP-Connector.
- Download Unity 2021.3.42
- Clone the Tobii Glasses 3 Server repository and follow the instructions to set up the project. This repository is required: it uses the Tobii Glasses 3 Python library to handle communication with the Glasses3 WebSocket API. It acts as a server for streaming real-time data from Tobii Glasses 3 to Unity
- Clone this repository into a separate directory from the Tobii Glasses 3 Server:
git clone https://github.com/lagenuina/TobiiGlasses3-Unity-ROS.git - In Unity, open the project in the Unity folder. Navigate to Scenes and select "Tobii Glasses"
- Insert the IP address of your ROS machine under Robotics -> ROS Settings -> ROS IP Address
- Play the Unity project
- Follow instructions here to run the sendgazedata.py script.
All set! In the Data Receiver Game Object in Unity, you will be able to see:
The camera feed and gaze will be displayed as follows:
- In ROS, subscribe to the following topics:
/gaze/pixel_coordinates: Provides the pixel coordinates of the user's gaze on the video frame./gaze/left_eye_origin: The 3D coordinates of the origin (center) of the left eye./gaze/right_eye_origin: The 3D coordinates of the origin (center) of the right eye./gaze/left_eye_direction: The estimated gaze direction in 3D. The origin of this vector is the /gaze/left_eye_origin./gaze/right_eye_direction: The estimated gaze direction in 3D. The origin of this vector is the /gaze/right_eye_origin./gaze/left_eye_pupil: Diameter in millimeters of the left pupil./gaze/right_eye_pupil: Diameter in millimeters of the right pupil.