mbot-apriltag-ibvs.cpp

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpMomentAreaNormalized.h>
#include <visp3/core/vpMomentBasic.h>
#include <visp3/core/vpMomentCentered.h>
#include <visp3/core/vpMomentDatabase.h>
#include <visp3/core/vpMomentGravityCenter.h>
#include <visp3/core/vpMomentGravityCenterNormalized.h>
#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpSerial.h>
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/robot/vpUnicycle.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>
#include <visp3/visual_features/vpFeatureMomentGravityCenterNormalized.h>
#include <visp3/vs/vpServo.h>
 
void usage(const char **argv, int error)
{
  std::cout << "Synopsis" << std::endl
    << "  " << argv[0]
    << " [--camera-device <id>]"
    << " [--tag-size <size>]"
    << " [--tag-family <family>]"
    << " [--tag-decision-margin-threshold <threshold>]"
    << " [--tag-hamming-distance-threshold <threshold>]"
    << " [--tag-quad-decimate <factor>]"
    << " [--tag-n-threads <number>]"
    << " [--tag-pose-method <method>]"
#if defined(VISP_HAVE_PUGIXML)
    << " [--intrinsic <xmlfile>]"
    << " [--camera-name <name>]"
#endif
#if defined(VISP_HAVE_DISPLAY)
    << " [--display-tag]"
    << " [--display-on]"
    << " [--save-image>]"
#endif
    << " [--serial-off]"
    << " [--help, -h]" << std::endl
    << std::endl;
  std::cout << "Description" << std::endl
    << "  Image-based visual servoing using an Apriltag." << std::endl
    << std::endl
    << "  --camera-device <id>" << std::endl
    << "    Camera device id." << std::endl
    << "    Default: 0" << std::endl
    << std::endl
    << "  --tag-size <size>" << std::endl
    << "    Apriltag size in [m]." << std::endl
    << "    Default: 0.03" << std::endl
    << std::endl
    << "  --tag-family <family>" << std::endl
    << "    Apriltag family. Supported values are:" << std::endl
    << "       0: TAG_36h11" << std::endl
    << "       1: TAG_36h10 (DEPRECATED)" << std::endl
    << "       2: TAG_36ARTOOLKIT (DEPRECATED)" << std::endl
    << "       3: TAG_25h9" << std::endl
    << "       4: TAG_25h7 (DEPRECATED)" << std::endl
    << "       5: TAG_16h5" << std::endl
    << "       6: TAG_CIRCLE21h7" << std::endl
    << "       7: TAG_CIRCLE49h12" << std::endl
    << "       8: TAG_CUSTOM48h12" << std::endl
    << "       9: TAG_STANDARD41h12" << std::endl
    << "      10: TAG_STANDARD52h13" << std::endl
    << "      11: TAG_ARUCO_4x4_50" << std::endl
    << "      12: TAG_ARUCO_4x4_100" << std::endl
    << "      13: TAG_ARUCO_4x4_250" << std::endl
    << "      14: TAG_ARUCO_4x4_1000" << std::endl
    << "      15: TAG_ARUCO_5x5_50" << std::endl
    << "      16: TAG_ARUCO_5x5_100" << std::endl
    << "      17: TAG_ARUCO_5x5_250" << std::endl
    << "      18: TAG_ARUCO_5x5_1000" << std::endl
    << "      19: TAG_ARUCO_6x6_50" << std::endl
    << "      20: TAG_ARUCO_6x6_100" << std::endl
    << "      21: TAG_ARUCO_6x6_250" << std::endl
    << "      22: TAG_ARUCO_6x6_1000" << std::endl
    << "      23: TAG_ARUCO_7x7_50" << std::endl
    << "      24: TAG_ARUCO_7x7_100" << std::endl
    << "      25: TAG_ARUCO_7x7_250" << std::endl
    << "      26: TAG_ARUCO_7x7_1000" << std::endl
    << "      27: TAG_ARUCO_MIP_36h12" << std::endl
    << "    Default: 0 (36h11)" << std::endl
    << std::endl
    << "  --tag-decision-margin-threshold <threshold>" << std::endl
    << "    Threshold used to discard low-confident detections. A typical value is " << std::endl
    << "    around 100. The higher this value, the more false positives will be filtered" << std::endl
    << "    out. When this value is set to -1, false positives are not filtered out." << std::endl
    << "    Default: 50" << std::endl
    << std::endl
    << "  --tag-hamming-distance-threshold <threshold>" << std::endl
    << "    Threshold used to discard low-confident detections with corrected bits." << std::endl
    << "    A typical value is between 0 and 3. The lower this value, the more false" << std::endl
    << "    positives will be filtered out." << std::endl
    << "    Default: 0" << std::endl
    << std::endl
    << "  --tag-quad-decimate <factor>" << std::endl
    << "    Decimation factor used to detect a tag. " << std::endl
    << "    Default: 1" << std::endl
    << std::endl
    << "  --tag-n-threads <number>" << std::endl
    << "    Number of threads used to detect a tag." << std::endl
    << "    Default: 1" << std::endl
    << std::endl
#if defined(VISP_HAVE_PUGIXML)
    << "  --intrinsic <xmlfile>" << std::endl
    << "    Camera intrinsic parameters file in xml format." << std::endl
    << "    Default: empty" << std::endl
    << std::endl
    << "  --camera-name <name>" << std::endl
    << "    Camera name in the intrinsic parameters file in xml format." << std::endl
    << "    Default: empty" << std::endl
    << std::endl
#endif
#if defined(VISP_HAVE_DISPLAY)
    << "  --display-tag" << std::endl
    << "    Flag used to enable displaying the edges of a tag." << std::endl
    << "    Default: disabled" << std::endl
    << std::endl
    << "  --display-on" << std::endl
    << "    Flag used to turn display on." << std::endl
    << "    Default: disabled" << std::endl
    << std::endl
    << "  --save-image" << std::endl
    << "    Flag used to save images with overlay drawings." << std::endl
    << "    Default: disabled" << std::endl
    << std::endl
#endif
    << "  --serial-off" << std::endl
    << "    Flag used to disable serial link." << std::endl
    << "    Default: enabled" << std::endl
    << std::endl
    << "  --help, -h" << std::endl
    << "    Print this helper message." << std::endl
    << std::endl;
 
  if (error) {
    std::cout << "Error" << std::endl
      << "  "
      << "Unsupported parameter " << argv[error] << std::endl;
  }
}
 
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_V4L2)
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
 
  int device = 0;
  vpDetectorAprilTag::vpAprilTagFamily opt_tag_family = vpDetectorAprilTag::TAG_36h11;
  double opt_tag_size = 0.065;
  float opt_tag_quad_decimate = 4.0;
  float opt_tag_decision_margin_threshold = 50;
  float opt_tag_hamming_distance_threshold = 2;
  int opt_tag_nThreads = 2;
  std::string intrinsic_file = "";
  std::string camera_name = "";
  bool display_on = false;
  bool serial_off = false;
#if defined(VISP_HAVE_DISPLAY)
  bool display_tag = false;
  bool save_image = false; // Only possible if display_on = true
#endif
 
  for (int i = 1; i < argc; i++) {
    if (std::string(argv[i]) == "--camera-device" && i + 1 < argc) {
      device = std::atoi(argv[++i]);
    }
    else if (std::string(argv[i]) == "--tag-size" && i + 1 < argc) {
      opt_tag_size = std::atof(argv[++i]);
    }
    else if (std::string(argv[i]) == "--tag-family" && i + 1 < argc) {
      opt_tag_family = (vpDetectorAprilTag::vpAprilTagFamily)std::atoi(argv[++i]);
    }
    else if (std::string(argv[i]) == "--tag-decision-margin-threshold" && i + 1 < argc) {
      opt_tag_decision_margin_threshold = static_cast<float>(atof(argv[++i]));
    }
    else if (std::string(argv[i]) == "--tag-hamming-distance-threshold" && i + 1 < argc) {
      opt_tag_hamming_distance_threshold = atoi(argv[++i]);
    }
    else if (std::string(argv[i]) == "--tag-quad-decimate" && i + 1 < argc) {
      opt_tag_quad_decimate = static_cast<float>(atof(argv[++i]));
    }
    else if (std::string(argv[i]) == "--tag-n-threads" && i + 1 < argc) {
      opt_tag_nThreads = std::atoi(argv[++i]);
    }
#if defined(VISP_HAVE_PUGIXML)
    else if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
      intrinsic_file = std::string(argv[++i]);
    }
    else if (std::string(argv[i]) == "--camera-name" && i + 1 < argc) {
      camera_name = std::string(argv[++i]);
    }
#endif
#if defined(VISP_HAVE_DISPLAY)
    else if (std::string(argv[i]) == "--display-tag") {
      display_tag = true;
    }
    else if (std::string(argv[i]) == "--display-on") {
      display_on = true;
    }
    else if (std::string(argv[i]) == "--save-image") {
      save_image = true;
    }
#endif
    else if (std::string(argv[i]) == "--serial-off") {
      serial_off = true;
    }
    else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
      usage(argv, 0);
      return EXIT_SUCCESS;
    }
    else {
      usage(argv, i);
      return EXIT_FAILURE;
    }
  }
 
  // Me Auriga led ring
  // if serial com ok: led 1 green
  // if exception: led 1 red
  // if tag detected: led 2 green, else led 2 red
  // if motor left: led 3 blue
  // if motor right: led 4 blue
 
  vpSerial *serial = nullptr;
  if (!serial_off) {
    serial = new vpSerial("/dev/ttyAMA0", 115200);
 
    serial->write("LED_RING=0,0,0,0\n");  // Switch off all led
    serial->write("LED_RING=1,0,10,0\n"); // Switch on led 1 to green: serial ok
  }
 
  try {
    vpImage<unsigned char> I;
 
    vpV4l2Grabber g;
    std::ostringstream device_name;
    device_name << "/dev/video" << device;
    g.setDevice(device_name.str());
    g.setScale(1);
    g.acquire(I);
 
    vpDisplay *d = nullptr;
    vpImage<vpRGBa> O;
#ifdef VISP_HAVE_DISPLAY
    if (display_on) {
      d = vpDisplayFactory::allocateDisplay(I);
    }
#endif
 
    vpCameraParameters cam;
    cam.initPersProjWithoutDistortion(615.1674805, 615.1675415, I.getWidth() / 2., I.getHeight() / 2.);
 
#if defined(VISP_HAVE_PUGIXML)
    vpXmlParserCamera parser;
    if (!intrinsic_file.empty() && !camera_name.empty()) {
      parser.parse(cam, intrinsic_file, camera_name, vpCameraParameters::perspectiveProjWithoutDistortion);
    }
#endif
 
    std::cout << cam << std::endl;
    std::cout << "Tag detector settings" << std::endl;
    std::cout << "  Tag size [m]              : " << opt_tag_size << std::endl;
    std::cout << "  Tag family                : " << opt_tag_family << std::endl;
    std::cout << "  Quad decimate             : " << opt_tag_quad_decimate << std::endl;
    std::cout << "  Decision margin threshold : " << opt_tag_decision_margin_threshold << std::endl;
    std::cout << "  Hamming distance threshold: " << opt_tag_hamming_distance_threshold << std::endl;
    std::cout << "  Num threads               : " << opt_tag_nThreads << std::endl;
 
    vpDetectorAprilTag detector(opt_tag_family);
 
    detector.setAprilTagQuadDecimate(opt_tag_quad_decimate);
    detector.setAprilTagNbThreads(opt_tag_nThreads);
    detector.setAprilTagDecisionMarginThreshold(opt_tag_decision_margin_threshold);
    detector.setAprilTagHammingDistanceThreshold(opt_tag_hamming_distance_threshold);
#ifdef VISP_HAVE_DISPLAY
    detector.setDisplayTag(display_tag);
#endif
 
    vpServo task;
    vpAdaptiveGain lambda;
    if (display_on) {
      lambda.initStandard(2.5, 0.4, 30); // lambda(0)=2.5, lambda(oo)=0.4 and lambda'(0)=30
    }
    else {
      lambda.initStandard(4, 0.4, 30); // lambda(0)=4, lambda(oo)=0.4 and lambda'(0)=30
    }
 
    vpUnicycle robot;
    task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
    task.setInteractionMatrixType(vpServo::CURRENT);
    task.setLambda(lambda);
    vpRotationMatrix cRe;
    cRe[0][0] = 0;
    cRe[0][1] = -1;
    cRe[0][2] = 0;
    cRe[1][0] = 0;
    cRe[1][1] = 0;
    cRe[1][2] = -1;
    cRe[2][0] = 1;
    cRe[2][1] = 0;
    cRe[2][2] = 0;
 
    vpHomogeneousMatrix cMe(vpTranslationVector(), cRe);
    vpVelocityTwistMatrix cVe(cMe);
    task.set_cVe(cVe);
 
    vpMatrix eJe(6, 2, 0);
    eJe[0][0] = eJe[5][1] = 1.0;
 
    std::cout << "eJe: \n" << eJe << std::endl;
 
    // Desired distance to the target
    double Z_d = 0.4;
 
    // Define the desired polygon corresponding the the AprilTag CLOCKWISE
    double X[4] = { opt_tag_size / 2., +opt_tag_size / 2., -opt_tag_size / 2., -opt_tag_size / 2. };
    double Y[4] = { opt_tag_size / 2., -opt_tag_size / 2., -opt_tag_size / 2., +opt_tag_size / 2. };
    std::vector<vpPoint> vec_P, vec_P_d;
 
    for (int i = 0; i < 4; i++) {
      vpPoint P_d(X[i], Y[i], 0);
      vpHomogeneousMatrix cdMo(0, 0, Z_d, 0, 0, 0);
      P_d.track(cdMo); //
      vec_P_d.push_back(P_d);
    }
 
    vpMomentObject m_obj(3), m_obj_d(3);
    vpMomentDatabase mdb, mdb_d;
    vpMomentBasic mb_d; // Here only to get the desired area m00
    vpMomentGravityCenter mg, mg_d;
    vpMomentCentered mc, mc_d;
    vpMomentAreaNormalized man(0, Z_d),
      man_d(0, Z_d); // Declare normalized area. Desired area parameter will be updated below with m00
    vpMomentGravityCenterNormalized mgn, mgn_d; // Declare normalized gravity center
 
    // Desired moments
    m_obj_d.setType(vpMomentObject::DENSE_POLYGON); // Consider the AprilTag as a polygon
    m_obj_d.fromVector(vec_P_d);                    // Initialize the object with the points coordinates
 
    mb_d.linkTo(mdb_d);       // Add basic moments to database
    mg_d.linkTo(mdb_d);       // Add gravity center to database
    mc_d.linkTo(mdb_d);       // Add centered moments to database
    man_d.linkTo(mdb_d);      // Add area normalized to database
    mgn_d.linkTo(mdb_d);      // Add gravity center normalized to database
    mdb_d.updateAll(m_obj_d); // All of the moments must be updated, not just an_d
    mg_d.compute();           // Compute gravity center moment
    mc_d.compute();           // Compute centered moments AFTER gravity center
 
    double area = 0;
    if (m_obj_d.getType() == vpMomentObject::DISCRETE)
      area = mb_d.get(2, 0) + mb_d.get(0, 2);
    else
      area = mb_d.get(0, 0);
    // Update an moment with the desired area
    man_d.setDesiredArea(area);
 
    man_d.compute(); // Compute area normalized moment AFTER centered moments
    mgn_d.compute(); // Compute gravity center normalized moment AFTER area normalized moment
 
    // Desired plane
    double A = 0.0;
    double B = 0.0;
    double C = 1.0 / Z_d;
 
    // Construct area normalized features
    vpFeatureMomentGravityCenterNormalized s_mgn(mdb, A, B, C), s_mgn_d(mdb_d, A, B, C);
    vpFeatureMomentAreaNormalized s_man(mdb, A, B, C), s_man_d(mdb_d, A, B, C);
 
    // Add the features
    task.addFeature(s_mgn, s_mgn_d, vpFeatureMomentGravityCenterNormalized::selectXn());
    task.addFeature(s_man, s_man_d);
 
    // Update desired gravity center normalized feature
    s_mgn_d.update(A, B, C);
    s_mgn_d.compute_interaction();
    // Update desired area normalized feature
    s_man_d.update(A, B, C);
    s_man_d.compute_interaction();
 
    std::vector<double> time_vec;
    for (;;) {
      g.acquire(I);
 
#ifdef VISP_HAVE_DISPLAY
      vpDisplay::display(I);
#endif
 
      double t = vpTime::measureTimeMs();
      std::vector<vpHomogeneousMatrix> cMo_vec;
      detector.detect(I, opt_tag_size, cam, cMo_vec);
      t = vpTime::measureTimeMs() - t;
      time_vec.push_back(t);
 
      {
        std::stringstream ss;
        ss << "Detection time: " << t << " ms";
#ifdef VISP_HAVE_DISPLAY
        vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
#endif
      }
 
      if (detector.getNbObjects() == 1) {
        if (!serial_off) {
          serial->write("LED_RING=2,0,10,0\n"); // Switch on led 2 to green: tag detected
        }
 
        // Update current points used to compute the moments
        std::vector<vpImagePoint> vec_ip = detector.getPolygon(0);
        vec_P.clear();
        for (size_t i = 0; i < vec_ip.size(); i++) { // size = 4
          double x = 0, y = 0;
          vpPixelMeterConversion::convertPoint(cam, vec_ip[i], x, y);
          vpPoint P;
          P.set_x(x);
          P.set_y(y);
          vec_P.push_back(P);
        }
 
#ifdef VISP_HAVE_DISPLAY
        // Display visual features
        vpDisplay::displayPolygon(I, vec_ip, vpColor::green, 3); // Current polygon used to compure an moment
        vpDisplay::displayCross(I, detector.getCog(0), 15, vpColor::green,
                                3); // Current polygon used to compure an moment
        vpDisplay::displayLine(I, 0, cam.get_u0(), I.getHeight() - 1, cam.get_u0(), vpColor::red,
                               3); // Vertical line as desired x position
#endif
 
        // Current moments
        m_obj.setType(vpMomentObject::DENSE_POLYGON); // Consider the AprilTag as a polygon
        m_obj.fromVector(vec_P);                      // Initialize the object with the points coordinates
 
        mg.linkTo(mdb);       // Add gravity center to database
        mc.linkTo(mdb);       // Add centered moments to database
        man.linkTo(mdb);      // Add area normalized to database
        mgn.linkTo(mdb);      // Add gravity center normalized to database
        mdb.updateAll(m_obj); // All of the moments must be updated, not just an_d
        mg.compute();         // Compute gravity center moment
        mc.compute();         // Compute centered moments AFTER gravity center
        man.setDesiredArea(
            area);     // Since desired area was init at 0, because unknow at construction, need to be updated here
        man.compute(); // Compute area normalized moment AFTER centered moment
        mgn.compute(); // Compute gravity center normalized moment AFTER area normalized moment
 
        s_mgn.update(A, B, C);
        s_mgn.compute_interaction();
        s_man.update(A, B, C);
        s_man.compute_interaction();
 
        task.set_cVe(cVe);
        task.set_eJe(eJe);
 
        // Compute the control law. Velocities are computed in the mobile robot reference frame
        vpColVector v = task.computeControlLaw();
 
        std::cout << "Send velocity to the mbot: " << v[0] << " m/s " << vpMath::deg(v[1]) << " deg/s" << std::endl;
 
        task.print();
        double radius = 0.0325;
        double L = 0.0725;
        double motor_left = (-v[0] - L * v[1]) / radius;
        double motor_right = (v[0] - L * v[1]) / radius;
        std::cout << "motor left vel: " << motor_left << " motor right vel: " << motor_right << std::endl;
        if (!serial_off) {
          //          serial->write("LED_RING=3,0,0,10\n"); // Switch on led 3 to blue: motor left servoed
          //          serial->write("LED_RING=4,0,0,10\n"); // Switch on led 4 to blue: motor right servoed
        }
        std::stringstream ss;
        double rpm_left = motor_left * 30. / M_PI;
        double rpm_right = motor_right * 30. / M_PI;
        ss << "MOTOR_RPM=" << vpMath::round(rpm_left) << "," << vpMath::round(rpm_right) << "\n";
        std::cout << "Send: " << ss.str() << std::endl;
        if (!serial_off) {
          serial->write(ss.str());
        }
      }
      else {
        // stop the robot
        if (!serial_off) {
          serial->write("LED_RING=2,10,0,0\n"); // Switch on led 2 to red: tag not detected
          //          serial->write("LED_RING=3,0,0,0\n");  // Switch on led 3 to blue: motor left not servoed
          //          serial->write("LED_RING=4,0,0,0\n");  // Switch on led 4 to blue: motor right not servoed
          serial->write("MOTOR_RPM=0,-0\n"); // Stop the robot
        }
      }
 
#ifdef VISP_HAVE_DISPLAY
      vpDisplay::displayText(I, 20, 20, "Click to quit.", vpColor::red);
      vpDisplay::flush(I);
 
      if (display_on && save_image) {
        vpDisplay::getImage(I, O);
        vpImageIo::write(O, "image.png");
      }
      if (vpDisplay::getClick(I, false)) {
        break;
      }
#endif
    }
 
 
    if (!serial_off) {
      serial->write("LED_RING=0,0,0,0\n"); // Switch off all led
    }
 
    std::cout << "Benchmark computation time" << std::endl;
    std::cout << "Mean / Median / Std: " << vpMath::getMean(time_vec) << " ms"
      << " ; " << vpMath::getMedian(time_vec) << " ms"
      << " ; " << vpMath::getStdev(time_vec) << " ms" << std::endl;
 
    if (display_on) {
      delete d;
    }
    if (!serial_off) {
      delete serial;
    }
  }
  catch (const vpException &e) {
    std::cerr << "Catch an exception: " << e.getMessage() << std::endl;
    if (!serial_off) {
      serial->write("LED_RING=1,10,0,0\n"); // Switch on led 1 to red
    }
  }
 
  return EXIT_SUCCESS;
#else
  (void)argc;
  (void)argv;
#ifndef VISP_HAVE_APRILTAG
  std::cout << "ViSP is not build with Apriltag support" << std::endl;
#endif
#ifndef VISP_HAVE_V4L2
  std::cout << "ViSP is not build with v4l2 support" << std::endl;
#endif
  std::cout << "Install missing 3rd parties, configure and build ViSP to run this tutorial" << std::endl;
  return EXIT_SUCCESS;
#endif
}