Open source version of computer vision for Whole-body Vision/Optical Skin/FingerVision. Two versions are provided: standalone, and ROS package. The standalone version would be good for making your own system, and ROS version is good for a quick integration.
Refer to the documentation of this project: http://akihikoy.net/p/fv.html
You can find a software instruction in the Software page.
Akihiko Yamaguchi, http://akihikoy.net/