Using the iKinGazeCtrl with Vizzy: Difference between revisions

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(Created page with "==Running the iKinGazeCtrl module== # On a shell go to the iKinGazeCtrl build directory. # Run the Vizzy_iKinGazeCtrl executable with the following parameters. <code><pre style=...")
 
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==Running the iKinGazeCtrl module==


# On a shell go to the iKinGazeCtrl build directory.
# Run the Vizzy_iKinGazeCtrl executable with the following parameters.
<code><pre style="white-space:normal;">&nbsp;&nbsp;&nbsp;$iKinGazCtrl_BUILD/Vizzy_iKinGazeCtrl --name [moduleName] --file [configFile]</pre></code>
Replace [moduleName] with the name that you want to give the module (any name will do), and replace [configFile] with the configuration file for the iKinGazeCtrl.
==Config file example==
<code>eyeTiltMin      -7.5
eyeTiltMax      15.0
ping_robot_tmo  40.0
camerasFile    icubEyes.ini</code>
The icubEyes.ini is the file with the values that resulted from the cameras calibration. The current calibration result on this file:
<code>[CAMERA_CALIBRATION_RIGHT]
projection        pinhole
drawCenterCross    0
w 320
h 240
fx 225.904
fy 227.041
cx 157.858
cy 113.51
k1 -0.377318
k2 0.155149
p1 -0.000726514
p2 0.000317338
[CAMERA_CALIBRATION_LEFT]
projection        pinhole
drawCenterCross    0
w 320
h 240
fx 219.057
fy 219.028
cx 174.742
cy 102.874
k1 -0.374173
k2 0.205428
p1 0.00282356
p2 0.00270998
[CAMERA_CALIBRATION_CONFIGURATION_LEFT]
numPatternImagesRequired    10
numPatternInnerCornersX    8
numPatternInnerCornersY    6
patternSquareSideLength    25
outputFilename              /tmp/results.ini
outputGroupname            CAMERA_CALIBRATION_LEFT
[CAMERA_CALIBRATION_CONFIGURATION_RIGHT]
numPatternImagesRequired    10
numPatternInnerCornersX    8
numPatternInnerCornersY    6
patternSquareSideLength    25
outputFilename              /tmp/results.ini
outputGroupname            CAMERA_CALIBRATION_RIGHT
[STEREO_CALIBRATION_CONFIGURATION]
boardWidth 8
boardHeight 6
boardSize 0.09241
numberOfPairs 30 </code>
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[[Category:Vislab]]

Latest revision as of 14:07, 22 July 2016