Visual Servoing Platform version 3.6.0
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mbot-apriltag-pbvs.cpp
1
2#include <visp3/core/vpSerial.h>
3#include <visp3/core/vpXmlParserCamera.h>
4#include <visp3/detection/vpDetectorAprilTag.h>
5#include <visp3/gui/vpDisplayX.h>
6#include <visp3/io/vpImageIo.h>
7#include <visp3/robot/vpUnicycle.h>
8#include <visp3/sensor/vpV4l2Grabber.h>
9#include <visp3/visual_features/vpFeaturePoint3D.h>
10#include <visp3/vs/vpServo.h>
11
12int main(int argc, const char **argv)
13{
14#if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_V4L2)
15 int device = 0;
18 double tagSize = 0.065;
19 float quad_decimate = 4.0;
20 int nThreads = 2;
21 std::string intrinsic_file = "";
22 std::string camera_name = "";
23 bool display_tag = false;
24 bool display_on = false;
25 bool serial_off = false;
26 bool save_image = false; // Only possible if display_on = true
27
28 for (int i = 1; i < argc; i++) {
29 if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
30 tagSize = std::atof(argv[i + 1]);
31 } else if (std::string(argv[i]) == "--input" && i + 1 < argc) {
32 device = std::atoi(argv[i + 1]);
33 } else if (std::string(argv[i]) == "--quad_decimate" && i + 1 < argc) {
34 quad_decimate = (float)atof(argv[i + 1]);
35 } else if (std::string(argv[i]) == "--nthreads" && i + 1 < argc) {
36 nThreads = std::atoi(argv[i + 1]);
37 } else if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
38 intrinsic_file = std::string(argv[i + 1]);
39 } else if (std::string(argv[i]) == "--camera_name" && i + 1 < argc) {
40 camera_name = std::string(argv[i + 1]);
41 } else if (std::string(argv[i]) == "--display_tag") {
42 display_tag = true;
43#if defined(VISP_HAVE_X11)
44 } else if (std::string(argv[i]) == "--display_on") {
45 display_on = true;
46 } else if (std::string(argv[i]) == "--save_image") {
47 save_image = true;
48#endif
49 } else if (std::string(argv[i]) == "--serial_off") {
50 serial_off = true;
51 } else if (std::string(argv[i]) == "--tag_family" && i + 1 < argc) {
52 tagFamily = (vpDetectorAprilTag::vpAprilTagFamily)atoi(argv[i + 1]);
53 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
54 std::cout << "Usage: " << argv[0]
55 << " [--input <camera input>] [--tag_size <tag_size in m>]"
56 " [--quad_decimate <quad_decimate>] [--nthreads <nb>]"
57 " [--intrinsic <intrinsic file>] [--camera_name <camera name>]"
58 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10, 2: TAG_36ARTOOLKIT,"
59 " 3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5)]"
60 " [--display_tag]";
61#if defined(VISP_HAVE_X11)
62 std::cout << " [--display_on] [--save_image]";
63#endif
64 std::cout << " [--serial_off] [--help]" << std::endl;
65 return EXIT_SUCCESS;
66 }
67 }
68
69 // Me Auriga led ring
70 // if serial com ok: led 1 green
71 // if exception: led 1 red
72 // if tag detected: led 2 green, else led 2 red
73 // if motor left: led 3 blue
74 // if motor right: led 4 blue
75
76 vpSerial *serial = NULL;
77 if (!serial_off) {
78 serial = new vpSerial("/dev/ttyAMA0", 115200);
79
80 serial->write("LED_RING=0,0,0,0\n"); // Switch off all led
81 serial->write("LED_RING=1,0,10,0\n"); // Switch on led 1 to green: serial ok
82 }
83
84 try {
86
88 std::ostringstream device_name;
89 device_name << "/dev/video" << device;
90 g.setDevice(device_name.str());
91 g.setScale(1);
92 g.acquire(I);
93
94 vpDisplay *d = NULL;
96#ifdef VISP_HAVE_X11
97 if (display_on) {
98 d = new vpDisplayX(I);
99 }
100#endif
101
103 cam.initPersProjWithoutDistortion(615.1674805, 615.1675415, I.getWidth() / 2., I.getHeight() / 2.);
104 vpXmlParserCamera parser;
105 if (!intrinsic_file.empty() && !camera_name.empty())
106 parser.parse(cam, intrinsic_file, camera_name, vpCameraParameters::perspectiveProjWithoutDistortion);
107
108 std::cout << "cam:\n" << cam << std::endl;
109 std::cout << "tagFamily: " << tagFamily << std::endl;
110
111 vpDetectorAprilTag detector(tagFamily);
112
113 detector.setAprilTagQuadDecimate(quad_decimate);
114 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
115 detector.setAprilTagNbThreads(nThreads);
116 detector.setDisplayTag(display_tag);
117
118 vpServo task;
119 vpAdaptiveGain lambda;
120 if (display_on)
121 lambda.initStandard(2.5, 0.4, 30); // lambda(0)=2.5, lambda(oo)=0.4 and lambda'(0)=30
122 else
123 lambda.initStandard(4, 0.4, 30); // lambda(0)=4, lambda(oo)=0.4 and lambda'(0)=30
124
125 vpUnicycle robot;
128 task.setLambda(lambda);
130 cRe[0][0] = 0;
131 cRe[0][1] = -1;
132 cRe[0][2] = 0;
133 cRe[1][0] = 0;
134 cRe[1][1] = 0;
135 cRe[1][2] = -1;
136 cRe[2][0] = 1;
137 cRe[2][1] = 0;
138 cRe[2][2] = 0;
139
141 vpVelocityTwistMatrix cVe(cMe);
142 task.set_cVe(cVe);
143
144 vpMatrix eJe(6, 2, 0);
145 eJe[0][0] = eJe[5][1] = 1.0;
146
147 std::cout << "eJe: \n" << eJe << std::endl;
148
149 // Desired distance to the target
150 double Z_d = 0.4;
151 double X = 0, Y = 0, Z = Z_d;
152
153 // Create X_3D visual features
154 vpFeaturePoint3D s_XZ, s_XZ_d;
155 s_XZ.buildFrom(0, 0, Z_d);
156 s_XZ_d.buildFrom(0, 0, Z_d);
157
158 // Create Point 3D X, Z coordinates visual features
159 s_XZ.buildFrom(X, Y, Z);
160 s_XZ_d.buildFrom(0, 0, Z_d); // The value of s* is X=Y=0 and Z=Z_d meter
161
162 // Add the features
164
165 std::vector<double> time_vec;
166 for (;;) {
167 g.acquire(I);
168
170
171 double t = vpTime::measureTimeMs();
172 std::vector<vpHomogeneousMatrix> cMo_vec;
173 detector.detect(I, tagSize, cam, cMo_vec);
174
175 t = vpTime::measureTimeMs() - t;
176 time_vec.push_back(t);
177
178 {
179 std::stringstream ss;
180 ss << "Detection time: " << t << " ms";
181 vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
182 }
183
184 if (detector.getNbObjects() == 1) {
185 // Display visual features
186 vpHomogeneousMatrix cdMo(0, 0, Z_d, 0, 0, 0);
187 vpDisplay::displayFrame(I, cMo_vec[0], cam, tagSize / 2, vpColor::none, 3);
188 vpDisplay::displayFrame(I, cdMo, cam, tagSize / 3, vpColor::red, 3);
189
190 if (!serial_off) {
191 serial->write("LED_RING=2,0,10,0\n"); // Switch on led 2 to green: tag detected
192 }
193
194 X = cMo_vec[0][0][3];
195 Y = cMo_vec[0][1][3];
196 Z = cMo_vec[0][2][3];
197
198 // Update Point 3D feature
199 s_XZ.set_XYZ(X, Y, Z);
200
201 std::cout << "X: " << X << " Z: " << Z << std::endl;
202
203 task.set_cVe(cVe);
204 task.set_eJe(eJe);
205
206 // Compute the control law. Velocities are computed in the mobile robot reference frame
208
209 std::cout << "Send velocity to the mbot: " << v[0] << " m/s " << vpMath::deg(v[1]) << " deg/s" << std::endl;
210
211 task.print();
212 double radius = 0.0325;
213 double L = 0.0725;
214 double motor_left = (-v[0] - L * v[1]) / radius;
215 double motor_right = (v[0] - L * v[1]) / radius;
216 std::cout << "motor left vel: " << motor_left << " motor right vel: " << motor_right << std::endl;
217 if (!serial_off) {
218 // serial->write("LED_RING=3,0,0,10\n"); // Switch on led 3 to blue: motor left servoed
219 // serial->write("LED_RING=4,0,0,10\n"); // Switch on led 4 to blue: motor right servoed
220 }
221 std::stringstream ss;
222 double rpm_left = motor_left * 30. / M_PI;
223 double rpm_right = motor_right * 30. / M_PI;
224 ss << "MOTOR_RPM=" << vpMath::round(rpm_left) << "," << vpMath::round(rpm_right) << "\n";
225 std::cout << "Send: " << ss.str() << std::endl;
226 if (!serial_off) {
227 serial->write(ss.str());
228 }
229 } else {
230 // stop the robot
231 if (!serial_off) {
232 serial->write("LED_RING=2,10,0,0\n"); // Switch on led 2 to red: tag not detected
233 // serial->write("LED_RING=3,0,0,0\n"); // Switch on led 3 to blue: motor left not servoed
234 // serial->write("LED_RING=4,0,0,0\n"); // Switch on led 4 to blue: motor right not servoed
235 serial->write("MOTOR_RPM=0,-0\n"); // Stop the robot
236 }
237 }
238
239 vpDisplay::displayText(I, 20, 20, "Click to quit.", vpColor::red);
241 if (display_on && save_image) {
243 vpImageIo::write(O, "image.png");
244 }
245 if (vpDisplay::getClick(I, false))
246 break;
247 }
248
249 if (!serial_off) {
250 serial->write("LED_RING=0,0,0,0\n"); // Switch off all led
251 }
252
253 std::cout << "Benchmark computation time" << std::endl;
254 std::cout << "Mean / Median / Std: " << vpMath::getMean(time_vec) << " ms"
255 << " ; " << vpMath::getMedian(time_vec) << " ms"
256 << " ; " << vpMath::getStdev(time_vec) << " ms" << std::endl;
257
258 if (display_on)
259 delete d;
260 if (!serial_off) {
261 delete serial;
262 }
263 } catch (const vpException &e) {
264 std::cerr << "Catch an exception: " << e.getMessage() << std::endl;
265 if (!serial_off) {
266 serial->write("LED_RING=1,10,0,0\n"); // Switch on led 1 to red
267 }
268 }
269
270 return EXIT_SUCCESS;
271#else
272 (void)argc;
273 (void)argv;
274#ifndef VISP_HAVE_APRILTAG
275 std::cout << "ViSP is not build with Apriltag support" << std::endl;
276#endif
277#ifndef VISP_HAVE_V4L2
278 std::cout << "ViSP is not build with v4l2 support" << std::endl;
279#endif
280 std::cout << "Install missing 3rd parties, configure and build ViSP to run this tutorial" << std::endl;
281 return EXIT_SUCCESS;
282#endif
283}
Adaptive gain computation.
void initStandard(double gain_at_zero, double gain_at_infinity, double slope_at_zero)
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
static const vpColor red
Definition vpColor.h:211
static const vpColor none
Definition vpColor.h:223
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
Class that defines generic functionalities for display.
Definition vpDisplay.h:173
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition vpException.h:59
const char * getMessage() const
Class that defines the 3D point visual feature.
static unsigned int selectX()
void set_XYZ(double X, double Y, double Z)
static unsigned int selectZ()
void buildFrom(const vpPoint &p)
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
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 double getMedian(const std::vector< double > &v)
Definition vpMath.cpp:314
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
Definition vpMath.cpp:345
static int round(double x)
Definition vpMath.h:323
static double getMean(const std::vector< double > &v)
Definition vpMath.cpp:294
static double deg(double rad)
Definition vpMath.h:106
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Implementation of a rotation matrix and operations on such kind of matrices.
void write(const std::string &s)
Definition vpSerial.cpp:313
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition vpServo.cpp:564
@ EYEINHAND_L_cVe_eJe
Definition vpServo.h:155
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Definition vpServo.h:448
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition vpServo.cpp:299
void setLambda(double c)
Definition vpServo.h:403
void set_eJe(const vpMatrix &eJe_)
Definition vpServo.h:506
void setServo(const vpServoType &servo_type)
Definition vpServo.cpp:210
@ PSEUDO_INVERSE
Definition vpServo.h:199
vpColVector computeControlLaw()
Definition vpServo.cpp:930
@ CURRENT
Definition vpServo.h:179
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition vpServo.cpp:487
Class that consider the case of a translation vector.
Generic functions for unicycle mobile robots.
Definition vpUnicycle.h:54
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
void setDevice(const std::string &devname)
void acquire(vpImage< unsigned char > &I)
XML parser to load and save intrinsic camera parameters.
int parse(vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const vpCameraParameters::vpCameraParametersProjType &projModel, unsigned int image_width=0, unsigned int image_height=0, bool verbose=true)
VISP_EXPORT double measureTimeMs()