A C++ YARP set of libraries and modules that provides the iCub robot with grasping capabilities.

• YARP
• iCub
• icub-contrib-common
• stereo-vision
• segmentation
• OpenCV
• [PCL: Point Cloud Library] (http://pointclouds.org/)

PCL also relies on a number of dependencies. Most of them can be installed with the classic sudo apt-get install command. You are going to need:

• boost >= 1.4.6
• eigen >= 3.0
• flann >= 1.7.1
• vtk >= 5.6
• qhull 2009

We recommend to install boost and eigen from sudo-apt get install, whereas flann and vtk can be installed easily either from sources or sudo apt-get install. The dependency qhull needs definitely to be installed from sources, as there is a problem between newer version of qhull and pcl >= 1.7.0, at least on Debian systems. For those who have Windows, it is usually enough to install the dependencies using binaries. Once you have all the dependencies, you can download the source code of pcl 1.7.0 (or pcl 1.7.1), compile it and install it.

Online documentation is available here: http://robotology.github.com/grasp.

Material included here is Copyright of iCub Facility - Istituto Italiano di Tecnologia and is released under the terms of the GPL v2.0 or later. See the file LICENSE for details.