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vtec_ros: vtec_msgs | vtec_tracker

Package Summary

The vtec_ros metapackage that installs VisioTec packages

vtec_ros: vtec_msgs | vtec_tracker

Package Summary

The vtec_ros metapackage that installs VisioTec packages

Documentation and Citing

A playlist with example applications of the system is also available on YouTube

A technical report is available here: Tech Report. It describes the tracker software and its working principles. If you use this software in an academic context, please cite the technical report, using:

  author = {Lucas Nogueira and Ely de Paiva and Geraldo Silveira},
  title  = {Visio{T}ec robust intensity-based homography optimization software},
  number = {CTI-VTEC-TR-01-19},
  institution = {CTI},
  year = {2019},
  address = {Brazil}



Install the usb_cam driver from ROS repositories.

sudo apt-get install ros-[kinetic|melodic]-usb-cam


Setup a ROS workspace.

mkdir -p ~/catkin_ws/src

Install the vtec cpp library

cd ~/catkin_ws/src
git clone https://github.com/visiotec/vtec.git
cd vtec
mkdir build
cd build
cmake ..

Install the ROS packages

cd ~/catkin_ws/src
git clone https://github.com/visiotec/vtec_ros.git
cd ~/catkin_ws
source devel/setup.bash


From a dataset

Download the dataset from here: dataset

Open two terminal windows, and launch in the first one the tracker node with:

roslaunch vtec_tracker tracker.launch

In the other terminal, navigate to the directory where you downloaded the dataset, and play the bagfile with:

rosbag play vtec_test_tracker.bag

Now you should see in RViz the tracking process using the default parameters from the launch file.

From a live camera

Open a terminal window and launch the tracker node:

roslaunch vtec_tracker tracker_live.launch

A Rviz window will pop-up with the camera images. In the terminal window where you issued the roslaunch command, press the S key to start tracking. This will select a bounding box in the current frame to be tracked. You can press S again anytime to restart the tracking process.

If you want to enable the robust to unknown occlusion mode, use the following command instead:

roslaunch vtec_tracker tracker_live_occlusion.launch 



Tracks a planar object in an image sequaence.

Subscribed Topics

camera/image (sensor_msgs/Image) track_cmd (std_msgs/Char)

Published Topics

annotated_image (sensor_msgs/Image) stabilized_image (sensor_msgs/Image) reference_image (sensor_msgs/Image) tracking (vtec_msgs/Tracking)


bbox_size_x (int, default: 200) bbox_size_y (int, default: 200) bbox_pos_x (int, default: 200) bbox_pos_y (int, default: 150) image_topic (string, default: usb_cam/image_raw) max_nb_iter_per_level (int, default: 5) max_nb_pyr_level (int, default: 2) sampling_rate (double, default: 1.0) homography_type (string, default: full) robust_flag (bool, default: false)


  1. Technical Report: https://github.com/visiotec/vtec/blob/master/vtec_ibgho_TR.pdf

  2. VisioTec C++ Libraries: https://github.com/visiotec/vtec

  3. Geraldo Silveira's website: https://sites.google.com/site/geraldofsilveira/


This work was supported in part by the CAPES under Grant 88887.136349/2017-00, in part by the FAPESP under Grant 2017/22603-0, and in part by the InSAC (CNPq under Grant 465755/2014-3 and FAPESP under Grant 2014/50851-0).

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

2020-01-25 13:18