Getting started with the ViSP moving edge tracker
Description: How to track an object using a recorded video sequence.Tutorial Level: BEGINNER
Next Tutorial: How to track your own model Tutorials/Tracking your own model
Contents
Starting the video sequence
The package comes with a sample bag file in bag/tutorial-static-box.bag.
It stores synchronized messages for a monocular camera and its associated camera information.
You can launch rosbag replay, the tracker node and a client by typing:
roslaunch visp_tracker tutorial.launch
Setting the initial pose
The client will launch automatically. You must click on four of the box corners in the order illustrated by the following screenhost:
Before validating the initial pose, you can tune the tracking parameters:
1 rosrun dynamic_reconfigure dynparam load /tracker_mbt_client \
2 `rospack find visp_tracker`/models/laas-box/tracker.yaml
Monitoring the tracking
You can then monitor the tracker by running:
1 rosrun visp_tracker viewer _camera_prefix:=/wide_left/camera
The viewer should display a result similar to this screenshot: 
To plot the object position, type:
1 rxplot --mode=3d /tracker_mbt/result/cMo/translation/x:y:z
Fine tuning the tracking parameters
Additionally, the tracking parameters can be changed online using dynamic_reconfigure:
1 rosrun dynamic_reconfigure reconfigure_gui /tracker_mbt