Visual Servoing Platform  version 3.4.0
photometricVisualServoing.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
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9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Authors:
32  * Eric Marchand
33  * Christophe Collewet
34  *
35  *****************************************************************************/
36 
43 #include <visp3/core/vpImage.h>
44 #include <visp3/core/vpImageTools.h>
45 #include <visp3/io/vpImageIo.h>
46 
47 #include <visp3/core/vpCameraParameters.h>
48 #include <visp3/core/vpTime.h>
49 #include <visp3/robot/vpSimulatorCamera.h>
50 
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpMath.h>
53 #include <visp3/gui/vpDisplayD3D.h>
54 #include <visp3/gui/vpDisplayGDI.h>
55 #include <visp3/gui/vpDisplayGTK.h>
56 #include <visp3/gui/vpDisplayOpenCV.h>
57 #include <visp3/gui/vpDisplayX.h>
58 
59 #include <visp3/io/vpParseArgv.h>
60 #include <visp3/visual_features/vpFeatureLuminance.h>
61 #include <visp3/vs/vpServo.h>
62 
63 #include <stdlib.h>
64 #include <visp3/robot/vpImageSimulator.h>
65 #define Z 1
66 
67 #include <visp3/core/vpIoTools.h>
68 #include <visp3/io/vpParseArgv.h>
69 
70 // List of allowed command line options
71 #define GETOPTARGS "cdi:n:h"
72 
73 void usage(const char *name, const char *badparam, std::string ipath, int niter);
74 bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display, int &niter);
75 
86 void usage(const char *name, const char *badparam, std::string ipath, int niter)
87 {
88  fprintf(stdout, "\n\
89 Tracking of Surf key-points.\n\
90 \n\
91 SYNOPSIS\n\
92  %s [-i <input image path>] [-c] [-d] [-n <number of iterations>] [-h]\n",
93  name);
94 
95  fprintf(stdout, "\n\
96 OPTIONS: Default\n\
97  -i <input image path> %s\n\
98  Set image input path.\n\
99  From this path read \"doisneau/doisneau.jpg\"\n\
100  images. \n\
101  Setting the VISP_INPUT_IMAGE_PATH environment\n\
102  variable produces the same behaviour than using\n\
103  this option.\n\
104 \n\
105  -c\n\
106  Disable the mouse click. Useful to automaze the \n\
107  execution of this program without humain intervention.\n\
108 \n\
109  -d \n\
110  Turn off the display.\n\
111 \n\
112  -n %%d %d\n\
113  Number of iterations.\n\
114 \n\
115  -h\n\
116  Print the help.\n",
117  ipath.c_str(), niter);
118 
119  if (badparam)
120  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
121 }
136 bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display, int &niter)
137 {
138  const char *optarg_;
139  int c;
140  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
141 
142  switch (c) {
143  case 'c':
144  click_allowed = false;
145  break;
146  case 'd':
147  display = false;
148  break;
149  case 'i':
150  ipath = optarg_;
151  break;
152  case 'n':
153  niter = atoi(optarg_);
154  break;
155  case 'h':
156  usage(argv[0], NULL, ipath, niter);
157  return false;
158 
159  default:
160  usage(argv[0], optarg_, ipath, niter);
161  return false;
162  }
163  }
164 
165  if ((c == 1) || (c == -1)) {
166  // standalone param or error
167  usage(argv[0], NULL, ipath, niter);
168  std::cerr << "ERROR: " << std::endl;
169  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
170  return false;
171  }
172 
173  return true;
174 }
175 
176 int main(int argc, const char **argv)
177 {
178 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
179  try {
180  std::string env_ipath;
181  std::string opt_ipath;
182  std::string ipath;
183  std::string filename;
184  bool opt_click_allowed = true;
185  bool opt_display = true;
186  int opt_niter = 400;
187 
188  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
189  // environment variable value
190  env_ipath = vpIoTools::getViSPImagesDataPath();
191 
192  // Set the default input path
193  if (!env_ipath.empty())
194  ipath = env_ipath;
195 
196  // Read the command line options
197  if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display, opt_niter) == false) {
198  return (-1);
199  }
200 
201  // Get the option values
202  if (!opt_ipath.empty())
203  ipath = opt_ipath;
204 
205  // Compare ipath and env_ipath. If they differ, we take into account
206  // the input path comming from the command line option
207  if (!opt_ipath.empty() && !env_ipath.empty()) {
208  if (ipath != env_ipath) {
209  std::cout << std::endl << "WARNING: " << std::endl;
210  std::cout << " Since -i <visp image path=" << ipath << "> "
211  << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
212  << " we skip the environment variable." << std::endl;
213  }
214  }
215 
216  // Test if an input path is set
217  if (opt_ipath.empty() && env_ipath.empty()) {
218  usage(argv[0], NULL, ipath, opt_niter);
219  std::cerr << std::endl << "ERROR:" << std::endl;
220  std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
221  << " environment variable to specify the location of the " << std::endl
222  << " image path where test images are located." << std::endl
223  << std::endl;
224  exit(-1);
225  }
226 
227  vpImage<unsigned char> Itexture;
228  filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
229  vpImageIo::read(Itexture, filename);
230 
231  vpColVector X[4];
232  for (int i = 0; i < 4; i++)
233  X[i].resize(3);
234  // Top left corner
235  X[0][0] = -0.3;
236  X[0][1] = -0.215;
237  X[0][2] = 0;
238 
239  // Top right corner
240  X[1][0] = 0.3;
241  X[1][1] = -0.215;
242  X[1][2] = 0;
243 
244  // Bottom right corner
245  X[2][0] = 0.3;
246  X[2][1] = 0.215;
247  X[2][2] = 0;
248 
249  // Bottom left corner
250  X[3][0] = -0.3;
251  X[3][1] = 0.215;
252  X[3][2] = 0;
253 
254  vpImageSimulator sim;
255 
257  sim.init(Itexture, X);
258 
259  vpCameraParameters cam(870, 870, 160, 120);
260 
261  // ----------------------------------------------------------
262  // Create the framegraber (here a simulated image)
263  vpImage<unsigned char> I(240, 320, 0);
265 
266  // camera desired position
267  vpHomogeneousMatrix cdMo;
268  cdMo[2][3] = 1;
269 
270  // set the robot at the desired position
271  sim.setCameraPosition(cdMo);
272  sim.getImage(I, cam); // and aquire the image Id
273  Id = I;
274 
275 // display the image
276 #if defined VISP_HAVE_X11
277  vpDisplayX d;
278 #elif defined VISP_HAVE_GDI
279  vpDisplayGDI d;
280 #elif defined VISP_HAVE_GTK
281  vpDisplayGTK d;
282 #elif defined VISP_HAVE_OPENCV
283  vpDisplayOpenCV d;
284 #endif
285 
286 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_OPENCV)
287  if (opt_display) {
288  d.init(I, 20, 10, "Photometric visual servoing : s");
290  vpDisplay::flush(I);
291  }
292  if (opt_display && opt_click_allowed) {
293  std::cout << "Click in the image to continue..." << std::endl;
295  }
296 #endif
297 
298  // ----------------------------------------------------------
299  // position the robot at the initial position
300  // ----------------------------------------------------------
301 
302  // camera desired position
304  cMo.buildFrom(0, 0, 1.2, vpMath::rad(15), vpMath::rad(-5), vpMath::rad(20));
305  vpHomogeneousMatrix wMo; // Set to identity
306  vpHomogeneousMatrix wMc; // Camera position in the world frame
307 
308  // set the robot at the desired position
309  sim.setCameraPosition(cMo);
310  I = 0;
311  sim.getImage(I, cam); // and aquire the image Id
312 
313 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
314  if (opt_display) {
316  vpDisplay::flush(I);
317  }
318  if (opt_display && opt_click_allowed) {
319  std::cout << "Click in the image to continue..." << std::endl;
321  }
322 #endif
323 
325  Idiff = I;
326 
327  vpImageTools::imageDifference(I, Id, Idiff);
328 
329 // Affiche de l'image de difference
330 #if defined VISP_HAVE_X11
331  vpDisplayX d1;
332 #elif defined VISP_HAVE_GDI
333  vpDisplayGDI d1;
334 #elif defined VISP_HAVE_GTK
335  vpDisplayGTK d1;
336 #endif
337 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
338  if (opt_display) {
339  d1.init(Idiff, 40 + static_cast<int>(I.getWidth()), 10, "photometric visual servoing : s-s* ");
340  vpDisplay::display(Idiff);
341  vpDisplay::flush(Idiff);
342  }
343 #endif
344  // create the robot (here a simulated free flying camera)
345  vpSimulatorCamera robot;
346  robot.setSamplingTime(0.04);
347  wMc = wMo * cMo.inverse();
348  robot.setPosition(wMc);
349 
350  // ------------------------------------------------------
351  // Visual feature, interaction matrix, error
352  // s, Ls, Lsd, Lt, Lp, etc
353  // ------------------------------------------------------
354 
355  // current visual feature built from the image
356  // (actually, this is the image...)
358  sI.init(I.getHeight(), I.getWidth(), Z);
359  sI.setCameraParameters(cam);
360  sI.buildFrom(I);
361 
362  // desired visual feature built from the image
363  vpFeatureLuminance sId;
364  sId.init(I.getHeight(), I.getWidth(), Z);
365  sId.setCameraParameters(cam);
366  sId.buildFrom(Id);
367 
368  // Create visual-servoing task
369  vpServo servo;
370  // define the task
371  // - we want an eye-in-hand control law
372  // - robot is controlled in the camera frame
374  // add current and desired visual features
375  servo.addFeature(sI, sId);
376  // set the gain
377  servo.setLambda(30);
378  // compute interaction matrix at the desired position
380 
381  // set a velocity control mode
383 
384  int iter = 1;
385  double normError = 0;
386  vpColVector v; // camera velocity send to the robot
387 
388  vpChrono chrono;
389  chrono.start();
390  do {
391  std::cout << "--------------------------------------------" << iter++ << std::endl;
392 
393  // Acquire the new image
394  sim.setCameraPosition(cMo);
395  sim.getImage(I, cam);
396 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
397  if (opt_display) {
399  vpDisplay::flush(I);
400  }
401 #endif
402  vpImageTools::imageDifference(I, Id, Idiff);
403 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
404  if (opt_display) {
405  vpDisplay::display(Idiff);
406  vpDisplay::flush(Idiff);
407  }
408 #endif
409  // Compute current visual feature
410  sI.buildFrom(I);
411 
412  v = servo.computeControlLaw(); // camera velocity send to the robot
413 
414  normError = servo.getError().sumSquare();
415  std::cout << " |e| = " << normError << std::endl;
416  std::cout << " |v| = " << sqrt(v.sumSquare()) << std::endl;
417 
418  // send the robot velocity
420  wMc = robot.getPosition();
421  cMo = wMc.inverse() * wMo;
422  } while (normError > 10000 && iter < opt_niter);
423 
424  chrono.stop();
425  std::cout << "Time to convergence: " << chrono.getDurationMs() << " ms" << std::endl;
426 
427  v = 0;
429 
430  return EXIT_SUCCESS;
431  } catch (const vpException &e) {
432  std::cout << "Catch an exception: " << e << std::endl;
433  return EXIT_FAILURE;
434  }
435 #else
436  (void)argc;
437  (void)argv;
438  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
439  return EXIT_SUCCESS;
440 #endif
441 }
void setPosition(const vpHomogeneousMatrix &wMc)
double getDurationMs()
Definition: vpTime.cpp:392
void init(const vpImage< unsigned char > &I, vpColVector *X)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1202
unsigned int getWidth() const
Definition: vpImage.h:246
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
void buildFrom(vpImage< unsigned char > &I)
void getImage(vpImage< unsigned char > &I, const vpCameraParameters &cam)
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
void setCameraParameters(vpCameraParameters &_cam)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
error that can be emited by ViSP classes.
Definition: vpException.h:71
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
static void imageDifference(const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Idiff)
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
void start(bool reset=true)
Definition: vpTime.cpp:409
virtual void setSamplingTime(const double &delta_t)
void setCameraPosition(const vpHomogeneousMatrix &cMt)
Initialize the velocity controller.
Definition: vpRobot.h:66
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1446
vpColVector getError() const
Definition: vpServo.h:278
void stop()
Definition: vpTime.cpp:424
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
void setInterpolationType(const vpInterpolationType interplt)
Class that defines the image luminance visual feature.
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
void setLambda(double c)
Definition: vpServo.h:404
Class which enables to project an image in the 3D space and get the view of a virtual camera...
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:134
vpHomogeneousMatrix getPosition() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:567
static double rad(double deg)
Definition: vpMath.h:110
double sumSquare() const
static void read(vpImage< unsigned char > &I, const std::string &filename)
Definition: vpImageIo.cpp:244
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpHomogeneousMatrix inverse() const
unsigned int getHeight() const
Definition: vpImage.h:188
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218