visp_tracker

visp_tracker wraps the ViSP moving edge tracker provided by the ViSP visual servoing library into a ROS package.

This computer vision algorithm computes the pose (i.e. position and orientation) of an object in an image. It is fast enough to allow object online tracking using a camera.

This package is composed of one node called ‘tracker’ and two additional binaries ‘client’ and ‘viewer’.

The node tries to track the object as fast as possible but needs to be initialized using the client. The viewer can be used to monitor the tracking result.

• Project webpage on ros.org: tutorial and API reference
• Project webpage: source code download, bug report

Setup

This package can be compiled like any other catkin package using catkin_make.

Prerequisities

First you need to install ViSP as a system dependency. This can be achived using ros-indigo-visp package for Ubuntu. Just run:

$ sudo apt-get install ros-indigo-visp

If the package is not available (this is for example the case for Fedora) or if you want to use a more recent version of ViSP, you can also install ViSP from source:

$ cd ~
$ svn checkout svn://scm.gforge.inria.fr/svn/visp/trunk/ViSP
$ cd ViSP
$ cmake -DBUILD_SHARED_LIBS=ON .
$ make -j8

Then to use this version you have to setup VISP_DIR environment variable to the folder that contains the build. In ou case it becomes:

$ export VISP_DIR=~/ViSP

How to get and build visp_tracker

Supposed you have a catkin work space just run:

$ cd ~/catkin_ws/src 
$ git clone -b indigo-devel https://github.com/lagadic/vision_visp.git
$ cd ..
$ catkin_make --pkg visp_tracker

Documentation

The documentation is available on the project ROS homepage.

For more information, refer to the ROS tutorial.

Changelog for package visp_tracker

0.11.0 (2019-05-27)

• Update with Melodic
• Fix memory leak
• Introduce vpMbGenericTracker and visp3 headers in visp_auto_tracker
• Introduce visp3 headers
• Code indentation
• Introduce vpMbGenericTracker
• Introduce vpHandEyeCalibration class
• Fix build for melodic (Closes #88)
• Fix compilation on 17.04 by adding missing boost/format.hpp inclusion
• Contributors: Fabien Spindler

0.10.0 (2017-02-10)

• Fix catkin_lint warnings level 2
• Fix OpenCV issue when reconfiguring the visp_tracker (Closes #58)
• kinetic-0.9.3
• Prepare changelogs
• Contributors: Fabien Spindler

0.7.0 (2014-03-12)

• visp_tracker/package.xml: swithc license to GPLv2 to match the other packages.
• Remove useless call to setup.py
• Identify Fabien as the principal maintainer.
• CMakeLists.txt: update bag file URL (use new GitHub Release API).
• Merge visp_tracker as our subdirectory
• Contributors: Thomas Moulard

0.7.2 (2014-04-07)

• Remove bullet usage and dependency by using ViSP instead. This was done to avoid errors when releasing vision_visp on oneiric/groovy where bullet is not packaged.
• Reorganize launch files and fix since viewer and client nodes where renamed due to catkin_lint errors
• Fix various dependency issues in the CMakeLists.txt and package.xml files
• Use Boost Filesystem V3.
• [visp_tracker] package.xml: add back Bullet dependency
• Add missing dependency to ViSP
• Fix errors detected with catkin_lint
• Contributors: Benjamin Chrétien, Fabien Spindler, Thomas Moulard

0.7.3 (2014-04-10)

• Prepare changelogs
• Contributors: Fabien Spindler

0.8.0 (2015-04-01)

• Remove catkin_lint issues and warnings
• Fix doc url location
• Fix hard coded "protected to public" for Model based trackers parameters.
• Change warning message when viewer is waiting for initialization.
• Change default quality value of KLT points detection.
• Add config files for dynamic reconfigure of Edge and KLT Model based trackers.
• Fix dynamic reconfigure for bother client and tracker. Add forgotten mutex.unlock() when catching errors.
• Remove "bad suppress value" message and improve suppress state detection based on ViSP enum
• Add frame_size parameter to the tracker client and viewer nodes that allow to specify the lenght (in meter) of the frame axis
• Fix compat with ViSP-2.9.0
• Fix to save/read initial pose from /tmp/${USER}/${model_name}.0.pos file
• Show optional help file during initialization. To this end 2 options are possible: 1/ If visp_tracker_client has help_image_path parameter, we use this setting to display the corresponding image. Extension could be jpeg, not only ppm. For example, in the launch file we can have: <node pkg="visp_tracker" type="visp_tracker_client" name="tracker_mbt_client"> <param name="model_path" value="package://visp_tracker/models" /> <param name="model_name" value="laas-box" /> <param name="help_image_path" value="/home/user/laas-box.ppm"/> In that case we will open a display windows with /home/user/laas-box.ppm image. 2/ If the previous parameter is not set, we consider model_path/model_name/model_name + .ppm extension as image full name and path. Following previous example, we will display package://visp_tracker/models/laas-box/laas-box.ppm
• Adapt visp_tracker to handle new message for trackers common parameters. Add mutex_lock() in visp_tracker_client to fix dynamic reconfigure utilisation. Modify ModelBasedSettings.cfg for better usage of dynamic reconfigure.
• Add new message for trackers common parameters.
• Show object frame
• Introduce bug fix when tracker viewer reads wrong /model_description value.
• Support not only wrml but also cao model files.
• Allow to read comments in init file.
• Remove useless debug messages.
• Fix to set Klt config at initialization. To check if really

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