Using the iKinGazeCtrl with Vizzy
Running the iKinGazeCtrl module
- On a shell go to the iKinGazeCtrl build directory.
- Run the Vizzy_iKinGazeCtrl executable with the following parameters.
$iKinGazCtrl_BUILD/Vizzy_iKinGazeCtrl --name [moduleName] --file [configFile]
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
iKinGazeCtrl config file:
eyeTiltMin -7.5
eyeTiltMax 15.0
ping_robot_tmo 40.0
camerasFile icubEyes.ini
The icubEyes.ini is the file with the values that resulted from the cameras calibration. The current calibration result on this file:
[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