gaze_tracking

Install dependencies

cd ~/gaze_tracking
pip install -r requirements.txt

Setup

Cloning this into your ros2_ws/src:

git clone https://github.com/MaidReal/gaze_tracking.git

build this package:

colcon build --packages-select gaze_tracking

source the package:

source install/setup.bash

Running

ros2 run gaze_tracking head_tracker

Note

You don't have to subscribe to this node, it will automatically move the servo to the position

Troubleshooting

Camera Port Error

if the terminal displays something like: Cannot open camera lets just check that the camera is on the correct port.

[ WARN:0@1.015] global cap_v4l.cpp:914 open VIDEOIO(V4L2:/dev/video2): can't open camera by index

in home directory run:

ls /dev

something like:

acpi_thermal_rel  i2c-2    loop31        ptp0      tty3   tty7       uinput
autofs            i2c-3    loop32        pts       tty30  tty8       urandom
block             i2c-4    loop33        random    tty31  tty9       userfaultfd
btrfs-control     i2c-5    loop34        rfkill    tty32  ttyprintk  userio
bus               i2c-6    loop35        rtc       tty33  ttyS0      v4l
char              i2c-7    loop36        rtc0      tty34  ttyS1      vcs
console           i2c-8    loop4         shm       tty35  ttyS10     vcs1
core              i2c-9    loop5         snapshot  tty36  ttyS11     vcs2
cpu               initctl  loop6         snd       tty37  ttyS12     vcs3
cpu_dma_latency   input    loop7         stderr    tty38  ttyS13     vcs4
cuse              kmsg     loop8         stdin     tty39  ttyS14     vcs5
disk              kvm      loop9         stdout    tty4   ttyS15     vcs6
dma_heap          log      loop-control  tpm0      tty40  ttyS16     vcsa
dri               loop0    mapper        tpmrm0    tty41  ttyS17     vcsa1
drm_dp_aux0       loop1    mcelog        tty       tty42  ttyS18     vcsa2
drm_dp_aux1       loop10   media0        tty0      tty43  ttyS19     vcsa3
drm_dp_aux2       loop11   mei0          tty1      tty44  ttyS2      vcsa4
drm_dp_aux3       loop12   mem           tty10     tty45  ttyS20     vcsa5
drm_dp_aux4       loop13   mqueue        tty11     tty46  ttyS21     vcsa6
ecryptfs          loop14   mtd           tty12     tty47  ttyS22     vcsu
fb0               loop15   mtd0          tty13     tty48  ttyS23     vcsu1
fd                loop16   mtd0ro        tty14     tty49  ttyS24     vcsu2
full              loop17   net           tty15     tty5   ttyS25     vcsu3
fuse              loop18   ng0n1         tty16     tty50  ttyS26     vcsu4
gpiochip0         loop19   null          tty17     tty51  ttyS27     vcsu5
hidraw0           loop2    nvme0         tty18     tty52  ttyS28     vcsu6
hpet              loop20   nvme0n1       tty19     tty53  ttyS29     vfio
hugepages         loop21   nvme0n1p1     tty2      tty54  ttyS3      vga_arbiter
hwrng             loop22   nvme0n1p2     tty20     tty55  ttyS30     vhci
i2c-0             loop23   nvme0n1p3     tty21     tty56  ttyS31     vhost-net
i2c-1             loop24   nvme0n1p4     tty22     tty57  ttyS4      vhost-vsock
i2c-10            loop25   nvme0n1p6     tty23     tty58  ttyS5      video0
i2c-11            loop26   nvme0n1p7     tty24     tty59  ttyS6      video1
i2c-12            loop27   nvram         tty25     tty6   ttyS7      zero
i2c-13            loop28   port          tty26     tty60  ttyS8      zfs
i2c-14            loop29   ppp           tty27     tty61  ttyS9
i2c-15            loop3    psaux         tty28     tty62  udmabuf
i2c-16            loop30   ptmx          tty29     tty63  uhid

What's important is video0,video1. If webcam is connected video2,video3 should show up.

in head_tracker.py go to line 21 or search for self.cap = cv2.VideoCapture(, depending on which video you want to use do 0 or 2

Serial Port Error

Just ensure that no other task is using the serial as well

Credits

https://github.com/JEOresearch/EyeTracker https://github.com/david-wb/gaze-estimation