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

0.10.0 (2017-02-13)

• Fix catkin_lint warnings level 2
• Fix OpenCV issue when reconfiguring the visp_tracker (Closes #58)
• indigo-0.9.1
• Prepare changelogs
• Contributors: Fabien Spindler

0.9.1 (2015-12-21)

• Revert build_depend visp removal that is mandatory.
• indigo-0.9.0
• Prepare changelogs
• Contributors: Fabien Spindler

0.9.0 (2015-12-20)

• Fix catkin_lint errors and warnings
• Compat with ViSP 3.0.0
• Fix to build with ViSP 2.10.0 when VISP_BUILD_DEPRECATED=OFF
• indigo-0.8.1
• Prepare changelogs
• Contributors: Aurelien Yol, Fabien Spindler

0.8.1 (2015-04-08)

• Improve data synchronization test based only on pose, klt points, and moving edges features
• Make ROS warn messages more explicit
• Make dynamic reconfigure working with ViSP 2.9.0. Ensure that the image is ready (test image size != 0) during dynamic reconfigure initialisation.
• Use VP_VERSION_INT
• Fix compat with ViSP 2.9.0. Fix ROS_INFO message. Code indentation.
• Improve ROS debug messages to be more generic. Remove parameters that should not be modified by the user in dynamic reconfigure files.
• Improve viewer node to handle dynamic reconfigure modifications. Modify tutorials so that they use the new functionnalities.
• Fix bug in visp_tracker_client to work without visp_tracker_viewer.
• Remove useless call to setKltOpencv and setMovingEdge (as it is done by default by the reconfigure server). Remove useless vpKltOpencv and vpMe variables.
• Modify dynamic reconfigure files to suppressed deprecated values. Adapt library to work with those modifications. Fix ROS debug message error.
• Reorganise ROS debug message to display trackers, edges and KLT parameters value.
• indigo-0.8.0
• Prepare changelogs
• Merge branch \'indigo-devel\' into indigo
• Contributors: Aurelien Yol, Fabien Spindler

0.8.0 (2015-03-31)

• Merge branch \'indigo-devel\' into indigo
• 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 necessary.
• Merge branch \'master\' of https://github.com/lagadic/vision_visp
• From /model_decription parameter decode the type of model that is used (vrml or cao) to be able to consider both descriptions in the viewer
• Tracker client and viewer can now consider not only /camera_prefix but also /node_name/camera_prefix parameters
• Introduce comment arround /camera_prefix parameter
• Rename model file name parameter to be generic. Delete useless setPose(). Add other forgotten setPose().
• Rename model name variable to be generic.
• Add comment to the model
• Sync with ViSP 2.10.0
• Fix compat with ViSP 2.10.0
• Fix compat with ViSP 2.10.0
• indigo-0.7.5
• Prepare changelogs
• Contributors: Aurelien Yol, Fabien Spindler

0.7.5 (2014-08-01)

• indigo-0.7.4
• Prepare changelogs
• Contributors: Fabien Spindler

0.7.4 (2014-07-03)

• Update and fix content of README files
• Contributors: Fabien Spindler

0.7.3 (2014-04-10)

• Prepare changelogs
• Contributors: Fabien Spindler

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 Chr