#Photometric Omnidirectional Visual Servoing
This repo implements the article Guillaume Caron, Eric Marchand, El Mustapha Mouaddib. Photometric visual servoing for omnidirectional cameras. Autonomous Robots, 2013, 35 (2-3), pp.177-193 (https://inria.hal.science/hal-00829822v1).
This assumes ViSP (3.4.1 tested) and PhOVS (1.0.0 tested, https://github.com/PerceptionRobotique/PhOVS) are installed beforehand
- create a build dir
- ccmake from there pointing to the CMakelists.txt file
- set Release mode, VISP_DIR to the build or install dir of ViSP, and PhOVS_DIR to the lib dir of the build dir of PhOVS
- configure, uncomment the WITHROBOT and WITHCAMERA defines at the beginning of oPVS.cpp if you have these devices and use the related libraries, then build
- execute from the command line with: ./oPVS 1000 -100 0 -200 0 10 0
//argv[1] : metric scale //argv[2] : tX //argv[3] : tY //argv[4] : tZ //argv[5] : rX directly expected in degrees //argv[6] : rY directly expected in degrees //argv[7] : rZ directly expected in degrees
Copyright (C) 2009-2025 by MIS lab (UPJV). All rights reserved.
See http://mis.u-picardie.fr/~g-caron/fr/index.php?page=7 for more information.
This software was developed at:
MIS - UPJV
33 rue Saint-Leu
80039 AMIENS CEDEX
France
and at
CNRS - AIST JRL (Joint Robotics Laboratory)
1-1-1 Umezono, Tsukuba, Ibaraki
Japan
This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
Description:
Insight about how to set the project and build the program
Authors:
Guillaume CARON