poseVirtualVS.cpp

/****************************************************************************
 *
 * 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.
 *
 * Description:
 * Pose computation on an object made of dots.
 *   reading of PGM image
 *   Display image using either the X11 or GTK or GDI display
 *   track 4 dots (vpDots) in the image
 *   compute the pose
 *
*****************************************************************************/
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
 
#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) &&       \
    (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
 
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/io/vpImageIo.h>
 
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
 
#include <visp3/blob/vpDot.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/vision/vpPose.h>
 
// List of allowed command line options
#define GETOPTARGS "cdi:p:hf:l:s:"
 
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath, unsigned first,
           unsigned last, unsigned step)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
  std::string ext("png");
#else
  std::string ext("pgm");
#endif
  fprintf(stdout, "\n\
Test dot tracking.\n\
\n\
SYNOPSIS\n\
  %s [-i <input image path>] [-p <personal image path>]\n\
     [-f <first image>] [-l <last image>] [-s <step>][-c] [-d] [-h]\n",
          name);
 
  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -i <input image path>                                %s\n\
     Set image input path.\n\
     From this path read images \n\
     \"cube/image.%%04d.%s\"\n\
     Setting the VISP_INPUT_IMAGE_PATH environment\n\
     variable produces the same behaviour than using\n\
     this option.\n\
 \n\
  -p <personal image path>                             %s\n\
     Specify a personal sequence containing images \n\
     to process.\n\
     By image sequence, we mean one file per image.\n\
     The format is selected by analysing the filename extension.\n\
     Example : \"/Temp/visp-images/cube/image.%%04d.%s\"\n\
     %%04d is for the image numbering.\n\
 \n\
  -f <first image>                                     %u\n\
     First image number of the sequence.\n\
 \n\
  -l <last image>                                %u\n\
     Last image number of the sequence.\n\
 \n\
  -s <step>                                            %u\n\
     Step between two images.\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\
  -h\n\
     Print the help.\n",
          ipath.c_str(), ext.c_str(), ppath.c_str(), ext.c_str(), first, last, step);
 
  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &last,
                unsigned &step, bool &click_allowed, bool &display)
{
  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 'p':
      ppath = optarg_;
      break;
    case 'f':
      first = (unsigned)atoi(optarg_);
      break;
    case 'n':
      last = (unsigned)atoi(optarg_);
      break;
    case 's':
      step = (unsigned)atoi(optarg_);
      break;
    case 'h':
      usage(argv[0], nullptr, ipath, ppath, first, last, step);
      return false;
      break;
 
    default:
      usage(argv[0], optarg_, ipath, ppath, first, last, step);
      return false;
      break;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr, ipath, ppath, first, last, step);
    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)
{
  try {
    std::string env_ipath;
    std::string opt_ipath;
    std::string ipath;
    std::string opt_ppath;
    std::string dirname;
    std::string filename;
    unsigned opt_first = 0;
    unsigned opt_last = 80;
    unsigned opt_step = 1;
    bool opt_click_allowed = true;
    bool opt_display = true;
    int i;
 
#if VISP_HAVE_DATASET_VERSION >= 0x030600
    std::string ext("png");
#else
    std::string ext("pgm");
#endif
 
    std::cout << "-------------------------------------------------------" << std::endl;
    std::cout << "  poseVirtualVS.cpp" << std::endl << std::endl;
 
    std::cout << "  Example of dots tracking in an image sequence and pose "
                 "computation"
              << std::endl;
    std::cout << "-------------------------------------------------------" << std::endl;
    std::cout << std::endl;
 
    // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
    // environment variable value
    env_ipath = vpIoTools::getViSPImagesDataPath();
 
    // Set the default input path
    if (!env_ipath.empty())
      ipath = env_ipath;
 
    // Read the command line options
    if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_last, opt_step, opt_click_allowed,
                   opt_display) == 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 coming from the command line option
    if (opt_ipath.empty() && opt_ppath.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() && opt_ppath.empty()) {
      usage(argv[0], nullptr, ipath, opt_ppath, opt_first, opt_last, opt_step);
      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
                << "  Use -p <personal image path> option if you want to " << std::endl
                << "  use personal images" << std::endl
                << std::endl;
      return EXIT_FAILURE;
    }
 
    // Declare an image, this is a gray level image (unsigned char)
    // it size is not defined yet, it will be defined when the image will
    // read on the disk
    vpImage<unsigned char> I;
 
    unsigned iter = opt_first;
    std::ostringstream s;
    char cfilename[FILENAME_MAX];
 
    if (opt_ppath.empty()) {
 
      // Warning : the datset is available on https://visp.inria.fr/download/
      dirname = vpIoTools::createFilePath(ipath, "cube");
 
      // Build the name of the image file
 
      s.setf(std::ios::right, std::ios::adjustfield);
      s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
      filename = vpIoTools::createFilePath(dirname, s.str());
    } else {
 
      snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
      filename = cfilename;
    }
 
    // define the vpDot structure, here 4 dots will tracked
    vpDot d[4];
 
    for (i = 0; i < 4; i++) {
      // by using setGraphics, we request to see the all the pixel of the dot
      // in green on the screen.
      // It uses the overlay image plane.
      // The default of this setting is that it is time consuming
 
      if (opt_display) {
        d[i].setGraphics(true);
      } else {
        d[i].setGraphics(false);
      }
    }
 
    // Read image named filename and put the bitmap into in I.
    try {
      vpImageIo::read(I, filename);
    } catch (...) {
      if (opt_ppath.empty()) {
        std::cerr << std::endl << "ERROR:" << std::endl;
        std::cerr << "  Cannot read " << filename << std::endl;
        std::cerr << "  Check your -i " << ipath << " option, " << std::endl
                  << "  or VISP_INPUT_IMAGE_PATH environment variable" << std::endl;
      } else {
        std::cerr << std::endl << "ERROR:" << std::endl;
        std::cerr << "  Cannot read " << filename << std::endl;
        std::cerr << "  or your -p " << opt_ppath << " option " << std::endl << std::endl;
      }
      return EXIT_FAILURE;
    }
 
// We open a window using either the X11 or GTK or GDI window manager
// it will be located in 100,100 and titled "tracking using vpDot"
// its size is automatically defined by the image (I) size
#if defined(VISP_HAVE_X11)
    vpDisplayX display;
#elif defined(VISP_HAVE_GTK)
    vpDisplayGTK display;
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI display;
#elif defined(HAVE_OPENCV_HIGHGUI)
    vpDisplayOpenCV display;
#endif
    if (opt_display) {
      // Display size is automatically defined by the image (I) size
      display.init(I, 100, 100, "tracking using vpDot");
      // display the image
      // The image class has a member that specify a pointer toward
      // the display that has been initialized in the display declaration
      // therefore is is no longer necessary to make a reference to the
      // display variable.
      vpDisplay::display(I);
      // Flush the display
      vpDisplay::flush(I);
    }
 
    vpImagePoint cog[4]; // Center of gravity of the dot
    if (opt_display && opt_click_allowed) {
      // dot coordinates (u,v) = (column,row)
      std::cout << "Click the four white dots on the object corner clockwise" << std::endl;
      for (i = 0; i < 4; i++) {
        // tracking is initalized if no other parameters are given
        // to the iniTracking(..) method a right mouse click on the
        // dot is expected dot location can also be specified
        // explicitly in the initTracking method :
        // d.initTracking(I,ip) where ip is the image point from
        // where the dot need to be searched.
 
        d[i].initTracking(I);
        // track the dot and returns its coordinates in the image
        // results are given in float since many many are usually considered
        //
        // an exception is thrown by the track method if
        //  - dot is lost
        //  - the number of pixel is too small
        //  - too many pixels are detected (this is usual when a "big"
        //  specularity
        //    occurs. The threshold can be modified using the
        //    setMaxDotSize() method
        d[i].track(I, cog[i]);
        vpDisplay::flush(I);
      }
    } else {
      cog[0].set_u(194);
      cog[0].set_v(88);
      d[0].initTracking(I, cog[0]);
      d[0].track(I, cog[0]);
      vpDisplay::flush(I);
 
      cog[1].set_u(225);
      cog[1].set_v(84);
      d[1].initTracking(I, cog[1]);
      d[1].track(I, cog[1]);
      vpDisplay::flush(I);
 
      cog[2].set_u(242);
      cog[2].set_v(114);
      d[2].initTracking(I, cog[2]);
      d[2].track(I, cog[2]);
      vpDisplay::flush(I);
 
      cog[3].set_u(212);
      cog[3].set_v(131);
      d[3].initTracking(I, cog[3]);
      d[3].track(I, cog[3]);
      vpDisplay::flush(I);
    }
 
    if (opt_display) {
 
      // display a red cross (size 10) in the image at the dot center
      // of gravity location
      //
      // WARNING
      // in the vpDisplay class member's when pixel coordinates
      // are considered the first element is the row index and the second
      // is the column index:
      //   vpDisplay::displayCross(Image, row index, column index, size,
      //   color) therefore u and v are inverted wrt to the vpDot
      //   specification
      // Alternatively, to avoid this problem another set of member have
      // been defined in the vpDisplay class.
      // If the method name is postfixe with _uv the specification is :
      //   vpDisplay::displayCross_uv(Image, column index, row index, size,
      //   color)
 
      for (i = 0; i < 4; i++)
        vpDisplay::displayCross(I, cog[i], 10, vpColor::red);
 
      // flush the X11 buffer
      vpDisplay::flush(I);
    }
 
    // --------------------------------------------------------
    // Now wil compute the pose
    //
 
    // The pose will be contained in an homogeneous matrix cMo
    vpHomogeneousMatrix cMo;
 
    // We need a structure that content both the 3D coordinates of the point
    // in the object frame and the 2D coordinates of the point expressed in
    // meter the vpPoint class is ok for that
    vpPoint P[4];
 
    // The vpPose class mainly contents a list of vpPoint (that is (X,Y,Z, x,
    // y) )
    vpPose pose;
    //  the list of point is cleared (if that's not done before)
    pose.clearPoint();
 
    // we set the 3D points coordinates (in meter !) in the object/world frame
    double L = 0.04;
    P[0].setWorldCoordinates(-L, -L, 0); // (X,Y,Z)
    P[1].setWorldCoordinates(L, -L, 0);
    P[2].setWorldCoordinates(L, L, 0);
    P[3].setWorldCoordinates(-L, L, 0);
 
    // set the camera intrinsic parameters
    // see more details about the model in vpCameraParameters
    double px = 600;
    double py = 600;
    double u0 = 192;
    double v0 = 144;
    vpCameraParameters cam(px, py, u0, v0);
 
    // pixel-> meter conversion
    for (i = 0; i < 4; i++) {
      // u[i]. v[i] are expressed in pixel
      // conversion in meter is achieved using
      // x = (u-u0)/px
      // y = (v-v0)/py
      // where px, py, u0, v0 are the intrinsic camera parameters
      double x = 0, y = 0;
      vpPixelMeterConversion::convertPoint(cam, cog[i], x, y);
      P[i].set_x(x);
      P[i].set_y(y);
    }
 
    // The pose structure is build, we put in the point list the set of point
    // here both 2D and 3D world coordinates are known
    for (i = 0; i < 4; i++) {
      pose.addPoint(P[i]); // and added to the pose computation point list
    }
 
    // compute the initial pose using Dementhon method followed by a non
    // linear minimization method
 
    // Pose by Dementhon or Lagrange provides an initialization of the non linear virtual visual-servoing pose estimation
    pose.computePose(vpPose::DEMENTHON_LAGRANGE_VIRTUAL_VS, cMo);
    if (opt_display) {
      // display the compute pose
      pose.display(I, cMo, cam, 0.05, vpColor::red);
      vpDisplay::flush(I);
    }
 
    // Covariance Matrix Computation
    // Uncomment if you want to compute the covariance matrix.
    // pose.setCovarianceComputation(true); //Important if you want
    // tracker.getCovarianceMatrix() to work.
 
    // this is the loop over the image sequence
    while (iter < opt_last) {
      // set the new image name
 
      if (opt_ppath.empty()) {
        s.str("");
        s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
        filename = vpIoTools::createFilePath(dirname, s.str());
      } else {
        snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
        filename = cfilename;
      }
 
      // read the image
      vpImageIo::read(I, filename);
      if (opt_display) {
        // Display the image
        vpDisplay::display(I);
        // Flush the display
        vpDisplay::flush(I);
      }
      // kill the point list
      pose.clearPoint();
 
      // track the dot
      for (i = 0; i < 4; i++) {
        // track the point
        d[i].track(I, cog[i]);
        if (opt_display) {
          // display point location
          vpDisplay::displayCross(I, cog[i], 10, vpColor::red);
        }
        // pixel->meter conversion
        {
          double x = 0, y = 0;
          vpPixelMeterConversion::convertPoint(cam, cog[i], x, y);
          P[i].set_x(x);
          P[i].set_y(y);
        }
 
        // and added to the pose computation point list
        pose.addPoint(P[i]);
      }
      // the pose structure has been updated
 
      // the pose is now updated using the virtual visual servoing approach
      // Dementhon or lagrange is no longer necessary, pose at the
      // previous iteration is sufficient
      pose.computePose(vpPose::VIRTUAL_VS, cMo);
      if (opt_display) {
        // display the compute pose
        pose.display(I, cMo, cam, 0.05, vpColor::red);
 
        vpDisplay::flush(I);
      }
 
      // Covariance Matrix Display
      // Uncomment if you want to print the covariance matrix.
      // Make sure pose.setCovarianceComputation(true) has been called
      // (uncomment below). std::cout << pose.getCovarianceMatrix() <<
      // std::endl << std::endl;
 
      iter += opt_step;
    }
    return EXIT_SUCCESS;
  } catch (const vpException &e) {
    std::cout << "Catch a ViSP exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
}
#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
int main()
{
  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
  return EXIT_SUCCESS;
}
#else
int main()
{
  std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..."
            << std::endl;
  std::cout << "Tip if you are on a unix-like system:" << std::endl;
  std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
  std::cout << "Tip if you are on a windows-like system:" << std::endl;
  std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
  return EXIT_SUCCESS;
}
#endif