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NuncObdurat Various optimizations and refactoring of pupilFitter.h
- removed overloaded functions for getcandidates and refinepoints: resulting function now only uses Opencv's Point instead of Point2f
- added getDarkestPixelBetter to replace getDarkestPixel: this handles cases where glints cause very dark pixels to appear (primarily in the Vive benchmark videos). This also makes pupil detection slightly more robust.
- added initial glint handling code to refinePoints (not currently active)
- misc documentation
Latest commit 891bde7 Oct 27, 2016

3D Eye Tracker

This software aims to provide an easy-to-compile C++ implementation of a 3D eye-tracking method.

Our software is designed for a wearable eye-tracking scnenario where a user wears a headset with an eye camera(s) that is equipped with infrared (IR) illuminations. The camera can capture close-up shots of the user's eyes.


With this software, you can obtain the following information:

  • 3D information:
    • Gaze (normal) vector
    • Eyeball center w.r.t the camera
    • Pupil diameter [m]
  • 2D information:
    • Pupil ellipse size [pixel] and angle [deg.]
    • (Glint position(s) [pixel], to be merged soon...)

Sample video on youtube (this was taken from a preliminary version and will be updated with a newer version soon).


Currently, the software is compatible with Visual Studio 2015. The test was done on a 64bit Windows 10 machine only.

Most of external libraries (for vc14, x64) are bundled in ./external, yet you still need to install the following two libraries:

To setup your own Visual Studio project, you need to use CMake. You can find a windows installer here.

How to compile

  1. Clone the repository to your local folder (e.g., /your-local-path/3D-Eye-Tracker)
  2. Open ./CMakeLists.txt and edit the OpenCV path and the Boost path depending on your environment. For example, the default values are as follows:
    • set(BOOST_ROOT "C:/SDK/boost_1_62_0")
    • set(OpenCV_DIR "C:/SDK/opencv-3.1.0/build")
  3. Start CMake GUI and set a source code path (e.g., /your-local-path/3D-Eye-Tracker) and a project build path (e.g., /your-local-path/3D-Eye-Tracker/build_vc14_x64)

4. Press `Generate` buttons, then choose a right build environment (Visual Studio 14 2015 Win64)

5. Open `3d_eye_tracker.sln` in the build folder, and compile `main` project (recommend to set it as a startup project)

How to run

The default setting uses a sinlge camera via the DirectShow filter. Check your camera name on a video capture program (e.g., Skype) and set the name in main.cpp:

		case InputMode::CAMERA_MONO:
			eyecams[0]=std::make_unique<eyecamera::EyeCameraDS>("Pupil Cam1 ID0");

In this case, the program tries to find a camera named "Pupil Cam1 ID0".

Once the program started, it initializes a 3D eye model from 2D pupil observatios:

In this initialization step, a user needs to smoothly rotate his/her eye to capture various 2D shapes of the eye.

After the step, we get 3D eye tracking:


Some debug keys are pre-assigned for a better control of the software:

  • p: Takes some more 2D pupil observations. Useful when estimated 3D eye model is incorrect due to not-well-distributed 2D observations
  • r: Resets the 3D eye model and 2D observations and restarts the initialization step
  • ESC: Exit the program


This program integrated/modified several existing codes. Especially,