Homography-based 2D Visual Servoing

Implementation of Homography-based 2D Visual Servoing S. Benhimane and E. Malis with ROS integration and homography estimation algorithms.

Overview

This package runs two nodes

h_gen_node, subscribes camera/image_raw and has a child of BaseHomographyGenerator to compute and publish projective homography G to visual_servo/G
h_vs_node, subscribes to visual_servo/G and has a Homography2DVisualServo to compute and publish angular and linear camera frame velocity to visual_servo/twist

Overview shown below

Configurations in

Camera intrinsics in cam_params.yml, can be generated via the camera_calibration ROS package
Gains in gain_params.yml

Name		Name	Last commit message	Last commit date
Latest commit History 94 Commits
action		action
config		config
img		img
include/h_vs		include/h_vs
launch		launch
msg		msg
python		python
src		src
srv		srv
.gitignore		.gitignore
.gitmodules		.gitmodules
CMakeLists.txt		CMakeLists.txt
README.md		README.md
package.xml		package.xml