Using the iKinGazeCtrl with Vizzy

Running the iKinGazeCtrl module

1. On a shell go to the iKinGazeCtrl build directory.
2. 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

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 

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