Online documentation for ViSP 2.10.0

Table of Contents

• Introduction
• Download
• Installation
• Tutorials
  • Installation from prebuild SDK
  • Installation from source
  • Getting started
  • Image manipulation
  • Camera calibration
  • Tracking
  • Detection
  • Computer vision
  • Visual servoing
  • Other tools
• Using ViSP
• How to help ?

Introduction

ViSP [21] is a modular C++ library that allows fast development of visual servoing applications. ViSP is developed and maintained by the Inria Lagadic team located at Inria Rennes.

ViSP official site is http://team.inria.fr/lagadic/visp

If you have any problems or find any bugs, please report them at http://gforge.inria.fr/tracker/?group_id=397. If you may need help, please use the available forums http://gforge.inria.fr/forum/?group_id=397 or mailing lists http://gforge.inria.fr/mail/?group_id=397.

It is also possible to contact ViSP main developers using: visp@inria.fr

Download

From http://team.inria.fr/lagadic/visp/download.html you can either download the latest stable release or the current development distribution using Subversion.

Installation

Because ViSP is a multi platform library that works under Linux, OSX and Windows, to install ViSP you need the CMake configuration tool available from http://www.cmake.org. Furthermore, depending on your operation system and the capabilities (framegrabber, display, simulation, ...) you need, prior to install ViSP you may install third party libraries http://team.inria.fr/lagadic/visp/libraries.html.

ViSP full installation procedure using CMake is detailed in the Installation from prebuild SDK tutorials and Installation from source tutorials. Getting started tutorials and documents in pdf are also available from http://team.inria.fr/lagadic/visp/publication.html.

Tutorials

Here after you will find a list of tutorials that show the basic use of ViSP classes with a small first code.

Installation from prebuild SDK

• Tutorial: Installation from prebuilt packages on Linux Ubuntu
  In this first tutorial you will learn how to install ViSP prebuilt library from Ubuntu packages.

Installation from source

• Tutorial: Installation from source on Linux Ubuntu
  In this first tutorial you will learn how to install ViSP from source on Linux Ubuntu.
• Tutorial: Installation from source on Linux Fedora
  In this other tutorial you will learn how to install ViSP from source on Linux Fedora.
• Tutorial: Installation from source on Linux CentOS
  In this other tutorial you will learn how to install ViSP from source on Linux CentOS.
• Tutorial: Installation from source on Linux openSUSE
  In this other tutorial you will learn how to install ViSP from source on Linux openSUSE.
• Tutorial: Installation from source on Raspberry Pi
  In this tutorial you will learn how to install ViSP from source on Raspberry Pi.
• Tutorial: Installation from source on Windows 7 with Visual C++ 2012
  In this tutorial you will learn how to install ViSP from source on Windows 7 with Visual C++ 2012.
• Tutorial: Installation from source on Windows 8.1 with Visual C++ 2013
  In this tutorial you will learn how to install ViSP from source on Windows 8.1 with Visual C++ 2013.
• Tutorial: Installation from source on Windows 8.1 with Mingw-w64
  In this tutorial you will learn how to install ViSP from source on Windows 8.1 with Mingw-w64.
• Tutorial: Installation from source on OSX for iOS devices
  In this tutorial you will learn how to install ViSP from source on OSX for iOS project.

Getting started

• Tutorial: How to create and build a CMake project that uses ViSP on Unix or Windows
  This tutorial shows how to build a project that uses ViSP to read and display an image.
• Tutorial: How to create and build a CMake project that uses ViSP on iOS
  This tutorial shows how to build a project that uses ViSP on iOS devices.

Image manipulation

• Tutorial: Image frame grabbing
  This tutorial shows how to acquire images from a camera.
• Tutorial: Image filtering
  This tutorial shows how to filter an image with ViSP.
• Tutorial: Planar image projection
  This tutorial shows how to project the image of a planar scene to a given camera position.

Camera calibration

• Tutorial: Camera calibration
  This tutorial explains how to calibrate a camera.

Tracking

• Tutorial: Blob tracking
  This tutorial introduces blob tracking and detection.
• Tutorial: Keypoint tracking
  This tutorial focuses on keypoint tracking using Kanade-Lucas-Tomasi feature tracker.
• Tutorial: Moving-edges tracking
  This tutorial focuses on line and ellipse tracking using moving-edges.
• Tutorial: Model-based tracking
  This tutorial focuses on model-based trackers using either edges, keypoints or and hybrid scheme that uses edges and keypoints.
• Tutorial: Template tracking
  This tutorial focuses on template trackers based on image registration approaches.

Detection

• Tutorial: Keypoints matching
  This tutorial shows how to detect and match keypoints. New since ViSP 2.10.0.
• Tutorial: Keypoint matching (deprecated)
  This tutorial shows how to detect and match SURF keypoints. It will be deprecated if you use an OpenCV version equal to 2.8.0 or a more recent version.
• Tutorial: Bar code detection
  This tutorial focuses on bar code (QR code, Data Matrix code) detection. New since ViSP 2.10.0.
• Tutorial: Face detection
  This tutorial focuses on face detection thanks to OpenCV Haar cascade classifier. New since ViSP 2.10.0.
• Tutorial: Object detection and localization
  This tutorial shows how to learn keypoints detected on a known object and how to use the matched correspondences to detect and estimate the pose of the object. New since ViSP 2.10.0.

Computer vision

• Tutorial: Pose estimation from points
  This tutorial focuses on pose estimation from planar or non planar points. New since ViSP 2.10.0.
• Tutorial: Homography estimation from points
  Here we explain how to estimate an homography from couples of matched points.
• Tutorial: Homography estimation from points (deprecated)
  Here we explain how to estimate an homography from couples of matched points. It will be deprecated if you use an OpenCV version equal to 2.8.0 or a more recent version.

Visual servoing

• Tutorial: Image-based visual servo
  This tutorial explains how to simulate an IBVS.
• Tutorial: Visual servo simulation on a pioneer-like unicycle robot
  This tutorial focuses on visual servoing simulation on a unicycle robot. The study case is a Pioneer P3-DX mobile robot equipped with a camera.
• Tutorial: How to boost your visual servo control law
  This tutorial explains how to speed up the time to convergence of a visual servo.

Other tools

• Tutorial: Real-time curves plotter tool
  This tutorial explains how to plot curves in real-time during a visual servo.
• Tutorial: Debug and trace printings
  This tutorial explains how to introduce trace in the code that could be enabled for debugging or disabled.

Using ViSP

ViSP C++ classes are organized in modules that may help the user during his project implementation.

From the example page, you will also find examples showing how to use the library to acquire and display an image, compute a camera pose, estimate an homography, servo a real robot or a simulated one using a 2D, 2D half or 3D visual servoing scheme, ...

How to help ?

ViSP library is an open source C++ library which is developed at Inria by Lagadic team. If you enjoy using ViSP, you may contribute to the project in different ways. This will motivate us to continue the efforts.

• You can help VISP to be more widely known, by displaying a ViSP flyer at work, in your lab or school.
• You can submit a bug report using the tracker.
• You can submit patches or new functionalities here.
• You can write new tutorials, new documentations or simply improve the existing documentation.
• If you just want to say you've been happy with the library, you can send us a postcard from your place, to the following address: Inria Rennes Bretagne Atlantique, Lagadic team, Campus de Beaulieu, 35042 Rennes Cedex, FRANCE.

You can also ask for help using either the french or the english forum, or ViSP users mailing list.