fuerte: Documentation generated on December 28, 2013 at 05:45 PM
groovy: Documentation generated on October 06, 2014 at 08:40 AM
hydro: Documentation generated on August 28, 2015 at 01:36 PM (doc job).
indigo: Documentation generated on July 05, 2019 at 03:15 AM (doc job).
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melodic: Documentation generated on March 12, 2021 at 11:24 AM (doc job).
vision_visp: visp | visp_auto_tracker | visp_bridge | visp_camera_calibration | visp_hand2eye_calibration | visp_tracker
Package LinksCode APIMsg/Srv APIFAQChange ListReviewsDependencies (7)
geometry_msgsimage_procroscpprospystd_msgsvispvisp_bridgePackage Summary
Documented
visp_hand2eye_calibration estimates the camera position with respect to its effector using the ViSP library
Author: Filip NovotnyLicense: GPLv2Source: git https://github.com/laas/vision_visp.git (branch: master)vision_visp: visp | visp_auto_tracker | visp_bridge | visp_camera_calibration | visp_hand2eye_calibration | visp_tracker
Package LinksCode APIMsg/Srv APIFAQChange ListReviewsDependencies (7)
geometry_msgsimage_procroscpprospystd_msgsvispvisp_bridgePackage Summary
Documented
visp_hand2eye_calibration estimates the camera position with respect to its effector using the ViSP library
Author: Filip NovotnyLicense: GPLv2Source: git https://github.com/laas/vision_visp.git (branch: master)vision_visp: visp_auto_tracker | visp_bridge | visp_camera_calibration | visp_hand2eye_calibration | visp_tracker
Package LinksCode APIMsg/Srv APIFAQChangelogChange ListReviewsDependencies (9)
catkingeometry_msgsimage_procmessage_generationmessage_runtimesensor_msgsstd_msgsvispvisp_bridgeUsed by (1)
vision_vispPackage Summary
Released Continuous Integration Documented
visp_hand2eye_calibration estimates the camera position with respect to its effector using the ViSP library.
Maintainer status: maintainedMaintainer: Fabien Spindler Fabien.Spindler AT inria DOT fr Author: Filip NovotnyLicense: GPLv2Source: git https://github.com/lagadic/vision_visp.git (branch: groovy)vision_visp: visp_auto_tracker | visp_bridge | visp_camera_calibration | visp_hand2eye_calibration | visp_tracker
Package LinksCode APIMsg/Srv APIFAQChangelogChange ListReviewsDependencies (10)
catkingeometry_msgsimage_procmessage_generationmessage_runtimeroscppsensor_msgsstd_msgsvispvisp_bridgeUsed by (2)
rosjava_messagesvision_vispPackage Summary
Released Continuous Integration Documented
visp_hand2eye_calibration estimates the camera position with respect to its effector using the ViSP library.
Maintainer status: maintainedMaintainer: Fabien Spindler Fabien.Spindler AT inria DOT fr Author: Filip NovotnyLicense: GPLv2Source: git https://github.com/lagadic/vision_visp.git (branch: hydro)vision_visp: visp_auto_tracker | visp_bridge | visp_camera_calibration | visp_hand2eye_calibration | visp_tracker
Package LinksCode APIMsg/Srv APIFAQChangelogChange ListReviewsDependencies (10)
catkingeometry_msgsimage_procmessage_generationmessage_runtimeroscppsensor_msgsstd_msgsvispvisp_bridgeUsed by (1)
vision_vispPackage Summary
Released Continuous Integration Documented
visp_hand2eye_calibration estimates the camera position with respect to its effector using the ViSP library.
Maintainer status: maintainedMaintainer: Fabien Spindler Fabien.Spindler AT inria DOT fr Author: Filip NovotnyLicense: GPLv2Source: git https://github.com/lagadic/vision_visp.git (branch: indigo)vision_visp: visp_auto_tracker | visp_bridge | visp_camera_calibration | visp_hand2eye_calibration | visp_tracker
Package LinksCode APIMsg/Srv APIFAQChangelogChange ListReviewsDependencies (10)
catkingeometry_msgsimage_procmessage_generationmessage_runtimeroscppsensor_msgsstd_msgsvispvisp_bridgeUsed by (1)
vision_vispPackage Summary
Released Continuous Integration Documented
visp_hand2eye_calibration estimates the camera position with respect to its effector using the ViSP library.
Maintainer status: maintainedMaintainer: Fabien Spindler Fabien.Spindler AT inria DOT fr Author: Filip NovotnyLicense: GPLv2Source: git https://github.com/lagadic/vision_visp.git (branch: jade)vision_visp: visp_auto_tracker | visp_bridge | visp_camera_calibration | visp_hand2eye_calibration | visp_tracker
Package LinksCode APIMsg/Srv APIFAQChangelogChange ListReviewsDependencies (10)
catkingeometry_msgsimage_procmessage_generationmessage_runtimeroscppsensor_msgsstd_msgsvispvisp_bridgeUsed by (1)
vision_vispJenkins jobs (7)
source ubuntu xenialbinary ubuntu xenial amd64binary ubuntu xenial i386binary ubuntu xenial armhfbinary ubuntu xenial arm64devel ubuntu xenial amd64docPackage Summary
Released Continuous Integration Documented
visp_hand2eye_calibration estimates the camera position with respect to its effector using the ViSP library.
Maintainer status: maintainedMaintainer: Fabien Spindler Fabien.Spindler AT inria DOT fr Author: Filip NovotnyLicense: GPLv2Source: git https://github.com/lagadic/vision_visp.git (branch: kinetic)vision_visp: visp_auto_tracker | visp_bridge | visp_camera_calibration | visp_hand2eye_calibration | visp_tracker
Package LinksCode APIMsg/Srv APIFAQChangelogChange ListReviewsDependencies (10)
catkingeometry_msgsimage_procmessage_generationmessage_runtimeroscppsensor_msgsstd_msgsvispvisp_bridgeUsed by (1)
vision_vispPackage Summary
Released Continuous Integration Documented
visp_hand2eye_calibration estimates the camera position with respect to its effector using the ViSP library.
Maintainer status: maintainedMaintainer: Fabien Spindler Fabien.Spindler AT inria DOT fr Author: Filip NovotnyLicense: GPLv2Source: git https://github.com/lagadic/vision_visp.git (branch: lunar)vision_visp: visp_auto_tracker | visp_bridge | visp_camera_calibration | visp_hand2eye_calibration | visp_tracker
Package LinksCode APIMsg/Srv APIFAQChangelogChange ListReviewsDependencies (10)
catkingeometry_msgsimage_procmessage_generationmessage_runtimeroscppsensor_msgsstd_msgsvispvisp_bridgeUsed by (1)
vision_vispJenkins jobs (6)
source ubuntu bionicbinary ubuntu bionic amd64binary ubuntu bionic armhfbinary ubuntu bionic arm64devel ubuntu bionic amd64docPackage Summary
Released Continuous Integration Documented
visp_hand2eye_calibration estimates the camera position with respect to its effector using the ViSP library.
Maintainer status: maintainedMaintainer: Fabien Spindler Fabien.Spindler AT inria DOT fr Author: Filip NovotnyLicense: GPLv2Source: git https://github.com/lagadic/vision_visp.git (branch: melodic)
目录OverviewInstallationUsageExampleNodescalibratorSubscribed TopicsServices Called
Overview
visp_hand2eye_calibration is a ROS package that computes extrinsic camera parameters : the constant transformation from the hand to the camera coordinates.
Let\'s consider a camera attached to a robotic hand, as shown in the following diagram: ![\"calibrations.png\"](\"http://www.baidu.com/visp_hand2eye_calibration?action=AttachFile%20do=get%20target=calibrations.png\" "\\"calibrations.png\\"")
The interest of this package is to perform the hand to eye calibration part.
To do so, two sets of transformations are fed to the calibrator node. a list of camera-to-object transformations a list of world to hand transformations
Once the node has enough transformations, it can estimate the camera-to-hand transformation which is the goal of the calibration.
The package consists of a calibrator node and an experimental client doing a sample calibration from a few poses.
The experimental client is merely there for a quick demonstration of the package abilities.
Installation
visp_hand2eye_calibration is part of vision_visp stack.
To install visp_hand2eye_calibration package run
sudo apt-get install ros-$ROS_DISTRO-visp-hand2eye-calibration
Or to install the complete stack run
sudo apt-get install ros-$ROS_DISTRO-vision-visp
Usage
To run the calibrator node:
rosrun visp_hand2eye_calibration visp_hand2eye_calibration_calibrator
Example
An example client is shipped with this package. It feeds different transformations (camera- object and world- hand) to the calibrator which computes the relative transformation between the the camera and the hand.
To try this example, run roscore first.
roscore
Then, run the client:
rosrun visp_hand2eye_calibration visp_hand2eye_calibration_client
Finally, run the calibrator:
rosrun visp_hand2eye_calibration visp_hand2eye_calibration_calibrator
The output displayed in the terminal running your client should look like this:
[ INFO] [1329226083.184531090]: Waiting for topics...[ INFO] [1329226084.186233704]: 1) GROUND TRUTH:[ INFO] [1329226084.186327570]: hand to eye transformation: translation: x: 0.1 y: 0.2 z: 0.3rotation: x: 0.96875 y: 0.0863555 z: -0.0863555 w: 0.215889
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