<> == Stack content == This stack contains the following packages {{{#!wiki version electric fuerte * [[visp]] contains the [[http://team.inria.fr/lagadic/visp/visp.html|ViSP]] C++ library. }}} * [[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). {{{#!wiki version groovy hydro indigo jade kinetic These packages depend on [[visp]] package that corresponds to the [[http://visp.inria.fr|Open Source Visual Servoing Library]] last stable release packaged for ROS. }}} == 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 [[https://github.com/lagadic/vision_visp/issues|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. [ [[http://team.inria.fr/lagadic/pdf/2005_ieee_ram_marchand.pdf|PDF]] ] ## AUTOGENERATED DON'T DELETE ## CategoryStack