visp_auto_tracker

visp_auto_tracker wraps model-based trackers provided by ViSP visual servoing library into a ROS package. The tracked object should have a QRcode, Flash code or April tag pattern. Based on the pattern, the object is automaticaly detected. The detection allows then to initialise the model-based trackers. When lost of tracking achieves a new detection is performed that will be used to re-initialize the tracker.

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 ‘visp_auto_tracker’. The node tries first to detect the QRcode, the Flash or the April tag code associated to the object. Once the detection is performed, the node tracks the object. When a lost of tracking occurs the node tries to detect once again the object and then restart a tracking.

The viewer comming with visp_tracker package 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 contains submodules. It can be compiled like any other ROS package using catkin_make.

Prerequisities

visp_auto_tracker depends on visp_bridge and visp_tracker packages available from https://github.com/lagadic/vision_visp (indigo-devel branches).

visp_auto_tracker depends also on libdmtx-dev and libzbar-dev system dependencies. To install them run:

$ sudo apt-get install libdmtx-dev libzbar-dev

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_auto_tracker

Documentation

The documentation is available on the project ROS homepage.

For more information, refer to the ROS tutorial.

Changelog for package visp_auto_tracker

0.13.1 (2022-02-20)

0.13.0 (2022-02-16)

0.12.1 (2021-04-22)

• CMake fixes
• Contributors: Fabien Spindler

0.12.0 (2021-04-21)

• Fix warnings detected by catkin_lint
• Fix warning detected during packaging
• Update README with Noetic support
• Use python3 on neotic
• Fix compat with Ubuntu 20.04
• Moves tracker_ref_frame from extern to param (#97)
• Contributors: Fabien Spindler

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
• kinetic-0.9.3
• Prepare changelogs
• Contributors: Fabien Spindler

0.7.0 (2014-03-12)

• Add flashcode_mbt as subdirectory.
• Merge visp_auto_tracker as our subdirectory
• Contributors: Thomas Moulard

0.7.2 (2014-04-07)

• Fix various dependency issues in the CMakeLists.txt and package.xml files

• lipstick

  Aesthetic changes

• [visp_auto_tracker] Add missing dependency
• Add missing dependency to ViSP
• Fix errors detected with catkin_lint
• Contributors: Fabien Spindler, Thomas Moulard

0.7.3 (2014-04-10)

• Fix to install models folder
• indigo-0.7.2
• Prepare changelogs
• Contributors: Fabien Spindler

0.8.0 (2015-04-01)

• Remove catkin_lint issues and warnings
• Fix doc url location
• Update launch files
• Comment viewer node. Only interesting when visp_auto_tracker debug_display param is False
• Improve pose computation using Lagrange and Dementhon methods as initialisation
• Increase quality value to avoid keypoint detection on the black part of the target
• Introduce code_message parameter as a comment to show how to use.
• New parameter "code_message" to specify the target to track from the code message. If this parameter is not set, the code that is tracked is the largest in the image.
• Add frame_size parameter to the tracker client and viewer nodes that allow to specify the lenght (in meter) of the frame axis
• Publish the code message of the tracked target on /visp_auto_tracker/code_message topic. If no target is tracked, publish an empty message. Remove fps printing
• Fix to publish covariance matrix associated to the pose estimation
• Fix to publish an empty list of moving edges and klt points on their respective topics when the tracker fails
• Makes sure klt points that are sent via ros are from visible polygons.
• Show how to use the viewer with visp_auto_tracker
• Consider also .cao file to describe the cad model of the object to track with the hybrid model-based tracker
• Remove useless include
• Fix issue https://github.com/lagadic/vision_visp/issues/45 to take into account model_name parameter set in the launch file.
• Changes done to use flash code detectors introduced in ViSP 2.10.0 rather than the one in visp_auto_tracker/flashcode_mbt/detectors.
• Fix to avoid an OpenCV exception when the object roi is outside the image
• Fix to run the viewer node
• Fix to publish camera_info with the images
• Fix compat with ViSP 2.10.0
• Update and fix content of README files
• Download the tutorial-qrcode.bag bag file from a new location that allows the download without SSL certificate
• Install visp_auto_tracker/models folder
• 0.7.3
• Prepare changelogs
• Prepare changelogs
• Contributors: Aurelien Yol, Fabien Spindler

0.9.0 (2015-12-20)

• Fix catkin_lint error and issues
• Compat with ViSP 3.0.0
• Fix to build with ViSP 2.10.0 when VISP_BUILD_DEPRECATED=OFF
• jade-0.8.0
• Prepare changelogs
• Contributors: Aurelien Yol, Fabien Spindler

0.9.1 (2015-12-21)

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

0.9.3 (2016-05-20)

• Fix CMAKE_CXX_FLAGS as separated list
• kinetic-0.9.2
• Contributors: Fabien Spindler