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Stack content

This stack contains the following packages

• visp_bridge provides conversion tools between ROS and ViSP.

• visp_camera_calibration estimates camera intrinsic paremeters.

• visp_hand2eye_calibration estimates camera extrinsic paremeters.

• visp_tracker wraps the model-based tracker provided by ViSP into a ROS node.

• visp_auto_tracker provides a tracker with automatic initialisation and reinitialisation after tracking loss (with help of specific patterns textured on the object).

Installation

Installation from prebuild packages

vision_visp stack could be installed from prebuilt packages.

sudo apt-get install ros-$ROS_DISTRO-vision-visp

Installation from source

vision_visp stack could also be build and installed from source code following the steps described next.

Install ROS and create a catkin workspace

• mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src
  catkin_init_workspace
  cd ~/catkin_ws
  catkin_make

Bring the source

• cd ~/catkin_ws/src

Get vision_visp stack:

• git clone https://github.com/lagadic/vision_visp.git

Checkout the branch that matches your ROS distro:

• cd vision_visp
  git checkout $ROS_DISTRO

Install dependencies

• cd ~/catkin_ws
  sudo rosdep init
  rosdep update
  rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Build the source

• cd ~/catkin_ws
  catkin_make -j4 -DCMAKE_BUILD_TYPE=Release

You can also build a specific package

• cd ~/catkin_ws
  catkin_make -j4 -DCMAKE_BUILD_TYPE=Release --pkg visp_tracker

Test installation

• roslaunch visp_tracker tutorial.launch
  roslaunch visp_auto_tracker tutorial.launch

Getting started

This stack allows you to track objects in real-time.

• The next video shows how to track an object using ViSP model-based tracker. To learn how to achieve this, look at the visp_tracker tutorials.

• The next video shows how to track a specific pattern textured with a QRcode. ViSP model-based tracker detects when it fails and recover the object position thanks to QRcode detection. To learn how to achieve this, look at the visp_auto_tracker package.

Report a bug

Use GitHub to report a bug or submit an enhancement.

References

• E. Marchand, F. Spindler, F. Chaumette. ViSP for visual servoing: a generic software platform with a wide class of robot control skills. IEEE Robotics and Automation Magazine, Special Issue on "Software Packages for Vision-Based Control of Motion", P. Oh, D. Burschka (Eds.), 12(4):40-52, December 2005. [ PDF ]