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Package Summary
Virtual package providing ViSP related packages.
- Maintainer status: maintained
- Maintainer: Fabien Spindler <fabien.spindler AT inria DOT fr>
- Author: Thomas Moulard <thomas.moulard AT gmail DOT com>
- License: GPLv2
- Source: git https://github.com/lagadic/vision_visp.git (branch: noetic)
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-noetic-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 noetic
Install dependencies
cd ~/catkin_ws sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src --rosdistro noetic
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 ]