A ROS package built on top of TobiiGlassesPyController for the Tobii Pro Glasses 2
This repository extends the functionality of TobiiGlassesPyController so that the gaze data and glasses video stream are available in ROS.
Running roslaunch tobii_glasses_ros bringup.launch should bring up an OpenCV window with the live camera feed and current gaze position shown.
ROS Topics:
/tobii_camera/image_raw(sensor_msgs/Image) The video stream from the glasses (without the gaze position annotation)/tobii_gaze(geometry_msgs/PointStamped) The 2D gaze position in pixel coordinates relative to the camera feed