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