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https://github.com/lagadic/vision_visp
ViSP stack for ROS
https://github.com/lagadic/vision_visp
Last synced: about 1 month ago
JSON representation
ViSP stack for ROS
- Host: GitHub
- URL: https://github.com/lagadic/vision_visp
- Owner: lagadic
- License: gpl-2.0
- Created: 2011-10-02T08:35:02.000Z (about 13 years ago)
- Default Branch: rolling
- Last Pushed: 2024-08-23T15:48:13.000Z (4 months ago)
- Last Synced: 2024-08-24T15:59:09.116Z (4 months ago)
- Language: C++
- Homepage: http://wiki.ros.org/vision_visp
- Size: 1.76 MB
- Stars: 178
- Watchers: 11
- Forks: 88
- Open Issues: 43
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: COPYING
Awesome Lists containing this project
- awesome-robotic-tooling - vision_visp - Wraps the ViSP moving edge tracker provided by the ViSP visual servoing library into a ROS package (Sensor Processing / Image Processing)
- awesome-robotic-tooling - vision_visp - Wraps the ViSP moving edge tracker provided by the ViSP visual servoing library into a ROS package. (Sensor Processing / Image Processing)
README
ViSP stack for ROS
==================
## 1. Introduction
ROS 2 vision_visp contains packages to interface ROS 2 with [ViSP](https://visp.inria.fr) which is a library designed
for visual-servoing and visual tracking applications. This repository contains:
- visp_bridge: Bridge between ROS 2 image and geometry messages and ViSP image and 3D transformation representation.
- visp_tracker: ViSP model-based tracker interfaced in ROS 2 and initialized from a client that requires user interaction.
- visp_auto_tracker: ViSP model-based tracker interfaced in ROS 2 and initialized thanks to a marker (AprilTag,
QRcode, flashcode). Recovers when tracking fails.
- visp_camera_calibration: ViSP based tool to calibrate camera intrinsic parameters.
- visp_handeye_calibration: ViSP based tool to estimated the robot end-effector to camera geometric transformation.
## 2. Install dependencies
### 2.1. Install ROS 2
Firstly, it assumes that the ROS 2 core has already been installed, please refer to
[ROS 2 installation](https://docs.ros.org/en/rolling/Installation.html) to get started.
### 2.2. Install ViSP
Please refer to the official installation guide from [ViSP installation tutorials](https://visp-doc.inria.fr/doxygen/visp-daily/tutorial_install.html).
## 3. Build vision_visp
Fetch the latest code and build
```
$ cd /src
$ git clone https://github.com/lagadic/vision_visp.git -b rolling
$ cd ..
$ colcon build --symlink-install
```
If ViSP is not found, use `VISP_DIR` to point to `$VISP_WS/visp-build` folder like:
```
$ colcon build --symlink-install --cmake-args -DVISP_DIR=$VISP_WS/visp-build
```
## 4. Usage
- To run `visp_auto_tracker` launch:
```
$ ros2 launch visp_auto_tracker tutorial_launch.xml
```
- To run `visp_tracker` launch:
```
$ ros2 launch visp_tracker tutorial_launch.xml
```