ViSP: Open source Visual Servoing Platform

Platform	Build Status
Ubuntu 20.04, 22.04 (amd64)
macOS 13 and 14
iOS on macOS 11.0
Windows 10
Other arch Ubuntu 22.04 (aarch64, s390x)
ROS1 Noetic Ubuntu 20.04 Focal
ROS2 Humble Ubuntu 22.04 Jammy
ROS2 Iron Ubuntu 22.04 Jammy
ROS2 Rolling Ubuntu 22.04 Jammy
Valgrind
Sanitizer
Code coverage

Other projects	Build Status
UsTK
visp_contrib
visp_sample
camera_localization
visp_started

ViSP is a cross-platform library (Linux, Windows, MacOS, iOS, Android) that allows prototyping and developing applications using visual tracking and visual servoing technics at the heart of the researches done now by Inria Rainbow team and before 2018 by Lagadic team. ViSP is able to compute control laws that can be applied to robotic systems. It provides a set of visual features that can be tracked using real time image processing or computer vision algorithms. ViSP provides also simulation capabilities. ViSP can be useful in robotics, computer vision, augmented reality and computer animation. Our YouTube channel gives an overview of the applications that could be tackled.

Citing ViSP

Please cite ViSP in your publications if it helps your research:

@article{Marchand05b,
   Author = {Marchand, E. and Spindler, F. and Chaumette, F.},
   Title = {ViSP for visual servoing: a generic software platform with a wide class of robot control skills},
   Journal = {IEEE Robotics and Automation Magazine},
   Volume = {12},
   Number = {4},
   Pages = {40--52},
   Publisher = {IEEE},
   Month = {December},
   Year = {2005}
}

To cite the generic model-based tracker:

@InProceedings{Trinh18a,
   Author = {Trinh, S. and Spindler, F. and Marchand, E. and Chaumette, F.},
   Title = {A modular framework for model-based visual tracking using edge, texture and depth features},
   BookTitle = {{IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'18}},
   Address = {Madrid, Spain},
   Month = {October},
   Year = {2018}
}

To cite pose estimation algorithms and hands-on survey illustrated with ViSP examples:

@article{Marchand16a,
   Author = {Marchand, E. and Uchiyama, H. and Spindler, F.},
   Title = {Pose estimation for augmented reality: a hands-on survey},
   Journal = {IEEE Trans. on Visualization and Computer Graphics},
   Volume = {22},
   Number = {12},
   Pages = {2633--2651},
   Month = {December},
   Year = {2016}
}

Resources

• Homepage: https://visp.inria.fr
• Wiki: https://github.com/lagadic/visp/wiki
• Code documentation: https://visp-doc.inria.fr/doxygen/visp-daily
• Q&A forum: https://github.com/lagadic/visp/discussions
• Issue tracking: https://github.com/lagadic/visp/issues
• YouTube: https://www.youtube.com/user/VispTeam

Contributing

Please read before starting work on a pull request: https://visp.inria.fr/contributing-code/

Contributing guidelines

All guidelines for contributing to the ViSP repository can be found at Contribution code web page.