Visual Servoing Platform version 3.6.0
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photometricVisualServoingWithoutVpServo.cpp

Implemented from [Collewet08c].

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpTime.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/visual_features/vpFeatureLuminance.h>
#include <stdlib.h>
#include <visp3/robot/vpImageSimulator.h>
#define Z 1
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
// List of allowed command line options
#define GETOPTARGS "cdi:n:h"
void usage(const char *name, const char *badparam, std::string ipath, int niter);
bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display, int &niter);
void usage(const char *name, const char *badparam, std::string ipath, int niter)
{
fprintf(stdout, "\n\
Tracking of Surf key-points.\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-c] [-d] [-n <number of iterations>] [-h]\n",
name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <input image path> %s\n\
Set image input path.\n\
From this path read \"doisneau/doisneau.jpg\"\n\
images. \n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-c\n\
Disable the mouse click. Useful to automate the \n\
execution of this program without human intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-n %%d %d\n\
Number of iterations.\n\
\n\
-h\n\
Print the help.\n",
ipath.c_str(), niter);
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display, int &niter)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
case 'i':
ipath = optarg_;
break;
case 'n':
niter = atoi(optarg_);
break;
case 'h':
usage(argv[0], NULL, ipath, niter);
return false;
default:
usage(argv[0], optarg_, ipath, niter);
return false;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, ipath, niter);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
int main(int argc, const char **argv)
{
#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string filename;
bool opt_click_allowed = true;
bool opt_display = true;
int opt_niter = 400;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// Set the default input path
if (!env_ipath.empty())
ipath = env_ipath;
// Read the command line options
if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display, opt_niter) == false) {
return EXIT_FAILURE;
}
// Get the option values
if (!opt_ipath.empty())
ipath = opt_ipath;
// Compare ipath and env_ipath. If they differ, we take into account
// the input path comming from the command line option
if (!opt_ipath.empty() && !env_ipath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl << "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
// Test if an input path is set
if (opt_ipath.empty() && env_ipath.empty()) {
usage(argv[0], NULL, ipath, opt_niter);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< std::endl;
return EXIT_FAILURE;
}
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
vpImageIo::read(Itexture, filename);
for (int i = 0; i < 4; i++)
X[i].resize(3);
// Top left corner
X[0][0] = -0.3;
X[0][1] = -0.215;
X[0][2] = 0;
// Top right corner
X[1][0] = 0.3;
X[1][1] = -0.215;
X[1][2] = 0;
// Bottom right corner
X[2][0] = 0.3;
X[2][1] = 0.215;
X[2][2] = 0;
// Bottom left corner
X[3][0] = -0.3;
X[3][1] = 0.215;
X[3][2] = 0;
sim.init(Itexture, X);
vpCameraParameters cam(870, 870, 160, 120);
// ----------------------------------------------------------
// Create the framegraber (here a simulated image)
vpImage<unsigned char> I(240, 320, 0);
// camera desired position
cdMo[2][3] = 1;
// set the robot at the desired position
sim.setCameraPosition(cdMo);
sim.getImage(I, cam); // and aquire the image Id
Id = I;
// display the image
#if defined(VISP_HAVE_X11)
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_GTK)
#elif defined(HAVE_OPENCV_HIGHGUI)
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_OPENCV)
if (opt_display) {
d.init(I, 20, 10, "Photometric visual servoing : s");
}
if (opt_display && opt_click_allowed) {
std::cout << "Click in the image to continue..." << std::endl;
}
#endif
// ----------------------------------------------------------
// position the robot at the initial position
// ----------------------------------------------------------
// camera desired position
cMo.buildFrom(0, 0, 1.2, vpMath::rad(15), vpMath::rad(-5), vpMath::rad(20));
vpHomogeneousMatrix wMo; // Set to identity
vpHomogeneousMatrix wMc; // Camera position in the world frame
// set the robot at the desired position
I = 0;
sim.getImage(I, cam); // and aquire the image Id
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
if (opt_display) {
}
if (opt_display && opt_click_allowed) {
std::cout << "Click in the image to continue..." << std::endl;
}
#endif
Idiff = I;
// Affiche de l'image de difference
#if defined(VISP_HAVE_X11)
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_GTK)
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
if (opt_display) {
d1.init(Idiff, 40 + static_cast<int>(I.getWidth()), 10, "photometric visual servoing : s-s* ");
}
#endif
// create the robot (here a simulated free flying camera)
robot.setSamplingTime(0.04);
wMc = wMo * cMo.inverse();
robot.setPosition(wMc);
// ------------------------------------------------------
// Visual feature, interaction matrix, error
// s, Ls, Lsd, Lt, Lp, etc
// ------------------------------------------------------
// current visual feature built from the image
// (actually, this is the image...)
sI.init(I.getHeight(), I.getWidth(), Z);
sI.buildFrom(I);
// desired visual feature built from the image
sId.init(I.getHeight(), I.getWidth(), Z);
sId.buildFrom(Id);
// Matrice d'interaction, Hessien, erreur,...
vpMatrix Lsd; // matrice d'interaction a la position desiree
vpMatrix Hsd; // hessien a la position desiree
vpMatrix H; // Hessien utilise pour le levenberg-Marquartd
vpColVector error; // Erreur I-I*
// Compute the interaction matrix
// link the variation of image intensity to camera motion
// here it is computed at the desired position
sId.interaction(Lsd);
// Compute the Hessian H = L^TL
Hsd = Lsd.AtA();
// Compute the Hessian diagonal for the Levenberg-Marquartd
// optimization process
unsigned int n = 6;
vpMatrix diagHsd(n, n);
diagHsd.eye(n);
for (unsigned int i = 0; i < n; i++)
diagHsd[i][i] = Hsd[i][i];
// ------------------------------------------------------
// Control law
double lambda; // gain
vpColVector v; // camera velocity send to the robot
// ----------------------------------------------------------
// minimization
double mu; // mu = 0 : Gauss Newton ; mu != 0 : LM
double lambdaGN;
mu = 0.01;
lambda = 30;
lambdaGN = 30;
// set a velocity control mode
// ----------------------------------------------------------
int iter = 1;
int iterGN = 90; // swicth to Gauss Newton after iterGN iterations
double normeError = 0;
vpChrono chrono;
chrono.start();
do {
std::cout << "--------------------------------------------" << iter++ << std::endl;
// Acquire the new image
sim.getImage(I, cam);
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
if (opt_display) {
}
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
if (opt_display) {
}
#endif
// Compute current visual feature
sI.buildFrom(I);
// compute current error
sI.error(sId, error);
normeError = (error.sumSquare());
std::cout << "|e| " << normeError << std::endl;
// double t = vpTime::measureTimeMs() ;
// ---------- Levenberg Marquardt method --------------
{
if (iter > iterGN) {
mu = 0.0001;
lambda = lambdaGN;
}
// Compute the levenberg Marquartd term
{
H = ((mu * diagHsd) + Hsd).inverseByLU();
}
// Compute the control law
e = H * Lsd.t() * error;
v = -lambda * e;
}
std::cout << "lambda = " << lambda << " mu = " << mu;
std::cout << " |Tc| = " << sqrt(v.sumSquare()) << std::endl;
// send the robot velocity
wMc = robot.getPosition();
cMo = wMc.inverse() * wMo;
} while (normeError > 10000 && iter < opt_niter);
chrono.stop();
std::cout << "Time to convergence: " << chrono.getDurationMs() << " ms" << std::endl;
v = 0;
return EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
#else
(void)argc;
(void)argv;
std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
return EXIT_SUCCESS;
#endif
}
Generic class defining intrinsic camera parameters.
void start(bool reset=true)
Definition vpTime.cpp:397
void stop()
Definition vpTime.cpp:412
double getDurationMs()
Definition vpTime.cpp:386
Implementation of column vector and the associated operations.
double sumSquare() const
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
Definition vpException.h:59
Class that defines the image luminance visual feature.
void setCameraParameters(vpCameraParameters &_cam)
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
void buildFrom(vpImage< unsigned char > &I)
vpMatrix interaction(unsigned int select=FEATURE_ALL)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class which enables to project an image in the 3D space and get the view of a virtual camera.
void getImage(vpImage< unsigned char > &I, const vpCameraParameters &cam)
void init(const vpImage< unsigned char > &I, vpColVector *X)
void setInterpolationType(const vpInterpolationType interplt)
void setCameraPosition(const vpHomogeneousMatrix &cMt)
static void imageDifference(const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Idiff)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
static std::string getViSPImagesDataPath()
static std::string createFilePath(const std::string &parent, const std::string &child)
static double rad(double deg)
Definition vpMath.h:116
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
vpMatrix inverseByLU() const
vpMatrix t() const
Definition vpMatrix.cpp:461
vpMatrix AtA() const
Definition vpMatrix.cpp:625
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition vpRobot.h:80
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition vpRobot.h:64
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
Class that defines the simplest robot: a free flying camera.