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lagadic / visp

Open Source Visual Servoing Platform
https://visp.inria.fr/
GNU General Public License v2.0
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c-plus-plus computer-vision visp visual-servoing

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ViSP: Open source Visual Servoing Platform

Github Releases License

Platform Build Status
Ubuntu 20.04, 22.04 (amd64) ubuntu dep apt workflow ubuntu dep src workflow
macOS 13 and 14 macos workflow
iOS on macOS 11.0 ios workflow
Windows 10 Build status
Other arch Ubuntu 22.04 (aarch64, s390x) other arch workflow
ROS1 Noetic Ubuntu 20.04 Focal Build Status
ROS2 Humble Ubuntu 22.04 Jammy Build Status
ROS2 Iron Ubuntu 22.04 Jammy Build Status
ROS2 Rolling Ubuntu 22.04 Jammy Build Status
Valgrind valgrind workflow
Sanitizer sanitizers workflow
Code coverage Code coverage
Other projects Build Status
UsTK macOS Ubuntu
visp_contrib Ubuntu
visp_sample macos workflow ubuntu dep apt workflow
camera_localization ubuntu_3rdparty_workflow
visp_started ubuntu_3rdparty_workflow

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

Contributing

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