PerceptionRobotique / libPeR_base

Public part of the Robotic Perception group (MIS lab, France) library about vision-based state estimation of robot and scene

LibPeR: Perception library for vision-based state estimation of robots and scenes

Get started

Installation

This library relies on the following dependencies:

• ViSP (tested with 3.5)
• OpenCV (tested with 4.2)
• LibXML2

To compile the library, run:

mkdir build && cd build
cmake ..
make -j12
sudo make install

Documentation

The documentation of the library can be compiled by running from the build/ directory:

make html-doc

The index file of the documentation is generated in build/html/index.html

Projects using LibPeR

VisualGyroscope

VisualServoing

A series of short programs that highlights how LibPeR can be used to perform Direct Visual Alignment, using various methods of spherical image mapping.

Omnidirectional image utility tools

• dual2dual that warps a dual fisheye image to a given pose and outputs it as a dual fisheye image
• equi2equi that warps an equirectangular omnidirectional image to a given pose and outputs it as an equirectangular image
• equi2omni that warps an equirectangular omnidirectional image to a given pose and outputs it as a dual fisheye image
• dualfisheye2equi that warps a dual fisheye image to a given pose and outputs it as an equirectangular image

Credits

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, Antoine ANDRE