servoAfma6MegaposePBVS.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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-based visual servoing using MegaPose, on an Afma6 platform.
 */

 
#include <iostream>
 
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpConfig.h>
#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/gui/vpPlot.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/sensor/vpRealSense2.h>
#include <visp3/visual_features/vpFeatureThetaU.h>
#include <visp3/visual_features/vpFeatureTranslation.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
#include <visp3/core/vpImageFilter.h>
#include <visp3/io/vpVideoWriter.h>
 
// Check if std:c++17 or higher
#if defined(VISP_HAVE_REALSENSE2) && ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L))) && \
    defined(VISP_HAVE_DISPLAY) && defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_MODULE_DNN_TRACKER)
 
#include <optional>
#include <visp3/io/vpJsonArgumentParser.h>
#include <visp3/dnn_tracker/vpMegaPoseTracker.h>
 
#ifdef VISP_HAVE_NLOHMANN_JSON
using json = nlohmann::json; 
#endif
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
std::optional<vpRect> detectObjectForInitMegaposeClick(const vpImage<vpRGBa> &I)
{
  const bool startLabelling = vpDisplay::getClick(I, false);
 
  const vpImagePoint textPosition(10.0, 20.0);
 
  if (startLabelling) {
    vpImagePoint topLeft, bottomRight;
    vpDisplay::displayText(I, textPosition, "Click the upper left corner of the bounding box", vpColor::red);
    vpDisplay::flush(I);
    vpDisplay::getClick(I, topLeft, true);
    vpDisplay::display(I);
    vpDisplay::displayCross(I, topLeft, 5, vpColor::red, 2);
    vpDisplay::displayText(I, textPosition, "Click the bottom right corner of the bounding box", vpColor::red);
    vpDisplay::flush(I);
    vpDisplay::getClick(I, bottomRight, true);
    vpRect bb(topLeft, bottomRight);
    return bb;
  }
  else {
    vpDisplay::display(I);
    vpDisplay::displayText(I, textPosition, "Click when the object is visible and static to start reinitializing megapose.", vpColor::red);
    vpDisplay::flush(I);
    return std::nullopt;
  }
}
 
int main(int argc, const char *argv[])
{
  bool opt_verbose = true;
  bool opt_plot = true;
  double convergence_threshold_t = 0.0005; // Value in [m]
  double convergence_threshold_tu = 0.5;   // Value in [deg]
 
  unsigned width = 640, height = 480;
  std::string megaposeAddress = "127.0.0.1";
  unsigned megaposePort = 5555;
  int refinerIterations = 1, coarseNumSamples = 1024;
  std::string objectName = "";
 
  std::string desiredPosFile = "desired.pos";
  std::string initialPosFile = "init.pos";
 
#ifdef VISP_HAVE_NLOHMANN_JSON
  vpJsonArgumentParser parser("Pose-based visual servoing with Megapose on an Afma6, with a Realsense D435.", "--config", "/");
  parser
    .addArgument("initialPose", initialPosFile, true, "Path to the file that contains that the desired pose. Can be acquired with Afma6_office.")
    .addArgument("desiredPose", desiredPosFile, true, "Path to the file that contains that the desired pose. Can be acquired with Afma6_office.")
    .addArgument("object", objectName, true, "Name of the object to track with megapose.")
    .addArgument("megapose/address", megaposeAddress, true, "IP address of the Megapose server.")
    .addArgument("megapose/port", megaposePort, true, "Port on which the Megapose server listens for connections.")
    .addArgument("megapose/refinerIterations", refinerIterations, false, "Number of Megapose refiner model iterations."
                 "A higher count may lead to better accuracy, at the cost of more processing time")
    .addArgument("megapose/initialisationNumSamples", coarseNumSamples, false, "Number of Megapose renderings used for the initial pose estimation.");
  parser.parse(argc, argv);
#endif
 
  vpRobotAfma6 robot;
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  std::shared_ptr<vpDisplay> display;
#else
  vpDisplay *display = nullptr;
#endif
  try {
    std::cout << "WARNING: This example will move the robot! "
      << "Please make sure to have the user stop button at hand!" << std::endl
      << "Press Enter to continue..." << std::endl;
    std::cin.ignore();
    std::vector<vpColVector> velocities;
    std::vector<vpPoseVector> error;
    /*
     * Move to a safe position
     */
    vpColVector q(6, 0);
 
    vpVideoWriter writer;
 
    // Go to desired pose, save true camera pose wrt world frame
    robot.setPositioningVelocity(10.0); // In %
    robot.readPosFile(desiredPosFile, q);
    robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
    robot.setPosition(vpRobot::ARTICULAR_FRAME, q); // Move to the joint position
    std::cout << "Move to joint position: " << q.t() << std::endl;
    vpHomogeneousMatrix cdTw = robot.get_fMc(q).inverse();
 
    // Setup camera
    vpRealSense2 rs;
    rs2::config config;
    config.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_RGBA8, 30);
    rs.open(config);
 
    // Get camera intrinsics
    vpCameraParameters cam =
      rs.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithoutDistortion);
    std::cout << "cam:\n" << cam << std::endl;
    // Initialize Megapose
    std::shared_ptr<vpMegaPose> megapose;
    try {
      megapose = std::make_shared<vpMegaPose>(megaposeAddress, megaposePort, cam, height, width);
    }
    catch (...) {
      throw vpException(vpException::ioError, "Could not connect to Megapose server at " + megaposeAddress + " on port " + std::to_string(megaposePort));
    }
 
    vpMegaPoseTracker megaposeTracker(megapose, objectName, refinerIterations);
    megapose->setCoarseNumSamples(coarseNumSamples);
    const std::vector<std::string> allObjects = megapose->getObjectNames();
    if (std::find(allObjects.begin(), allObjects.end(), objectName) == allObjects.end()) {
      throw vpException(vpException::badValue, "Object " + objectName + " is not known by the Megapose server!");
    }
    std::future<vpMegaPoseEstimate> trackerFuture;
 
    vpImage<vpRGBa> I(height, width);
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    display = vpDisplayFactory::createDisplay(I, 10, 10, "Color image");
#else
    display = vpDisplayFactory::allocateDisplay(I, 10, 10, "Color image");
#endif
 
    std::optional<vpRect> detection;
    while (!detection) {
      rs.acquire(I);
      vpDisplay::display(I);
      detection = detectObjectForInitMegaposeClick(I);
      vpDisplay::flush(I);
    }
 
    vpHomogeneousMatrix cdTo = megaposeTracker.init(I, *detection).get().cTo; //get camera pose relative to object, not world
 
    // Go to starting pose, save true starting pose in world frame
    robot.readPosFile(initialPosFile, q);
    robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
    robot.setPosition(vpRobot::ARTICULAR_FRAME, q); // Move to the joint position
    std::cout << "Move to joint position: " << q.t() << std::endl;
    vpHomogeneousMatrix cTw = robot.get_fMc(q).inverse();
    vpHomogeneousMatrix cdTc_true = cdTw * cTw.inverse(); // ground truth error
 
    detection = std::nullopt;
    while (!detection) {
      rs.acquire(I);
      vpDisplay::display(I);
      detection = detectObjectForInitMegaposeClick(I);
      vpDisplay::flush(I);
    }
    auto est = megaposeTracker.init(I, *detection).get();
    vpHomogeneousMatrix cTo = est.cTo;
    std::cout << "Estimate score = " << est.score << std::endl;
    writer.setFileName("video/I%05d.png");
    //writer.setFramerate(60.0);
    writer.open(I);
 
    //vpHomogeneousMatrix oTw = cTo.inverse() * cTw;
    vpHomogeneousMatrix cdTc = cdTo * cTo.inverse();
    vpFeatureTranslation t(vpFeatureTranslation::cdMc);
    vpFeatureThetaU tu(vpFeatureThetaU::cdRc);
    t.buildFrom(cdTc);
    tu.buildFrom(cdTc);
 
    vpFeatureTranslation td(vpFeatureTranslation::cdMc);
    vpFeatureThetaU tud(vpFeatureThetaU::cdRc);
 
    vpServo task;
    task.addFeature(t, td);
    task.addFeature(tu, tud);
    task.setServo(vpServo::EYEINHAND_CAMERA);
    task.setInteractionMatrixType(vpServo::CURRENT);
    task.setLambda(0.2);
 
    vpPlot *plotter = nullptr;
    int iter_plot = 0;
 
    if (opt_plot) {
      plotter = new vpPlot(2, static_cast<int>(250 * 2), 500, static_cast<int>(I.getWidth()) + 80, 10,
                           "Real time curves plotter");
      plotter->setTitle(0, "Visual features error");
      plotter->setTitle(1, "Camera velocities");
      plotter->initGraph(0, 6);
      plotter->initGraph(1, 6);
      plotter->setLegend(0, 0, "error_feat_tx");
      plotter->setLegend(0, 1, "error_feat_ty");
      plotter->setLegend(0, 2, "error_feat_tz");
      plotter->setLegend(0, 3, "error_feat_theta_ux");
      plotter->setLegend(0, 4, "error_feat_theta_uy");
      plotter->setLegend(0, 5, "error_feat_theta_uz");
      plotter->setLegend(1, 0, "vc_x");
      plotter->setLegend(1, 1, "vc_y");
      plotter->setLegend(1, 2, "vc_z");
      plotter->setLegend(1, 3, "wc_x");
      plotter->setLegend(1, 4, "wc_y");
      plotter->setLegend(1, 5, "wc_z");
    }
 
    bool final_quit = false;
    bool has_converged = false;
    bool send_velocities = false;
 
    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
    vpColVector vLastUpdate(6);
 
    vpHomogeneousMatrix prev_cTo = cTo;
 
    vpColVector v(6);
 
    bool callMegapose = true;
    vpMegaPoseEstimate  megaposeEstimate;
 
    while (!has_converged && !final_quit) {
      double t_start = vpTime::measureTimeMs();
 
      rs.acquire(I);
      vpDisplay::display(I);
      if (!callMegapose && trackerFuture.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
        megaposeEstimate = trackerFuture.get();
 
        cTo = megaposeEstimate.cTo;
        callMegapose = true;
        if (megaposeEstimate.score < 0.2) { // If confidence is low, exit
          final_quit = true;
          std::cout << "Low confidence, exiting" << std::endl;
        }
      }
 
      if (callMegapose) {
        std::cout << "Calling megapose" << std::endl;
        trackerFuture = megaposeTracker.track(I);
        callMegapose = false;
      }
 
      std::stringstream ss;
      ss << "Left click to " << (send_velocities ? "stop the robot" : "servo the robot") << ", right click to quit.";
      vpDisplay::displayText(I, 20, 20, ss.str(), vpColor::red);
 
      // Update visual features
      cdTc = cdTo * cTo.inverse();
      t.buildFrom(cdTc);
      tu.buildFrom(cdTc);
      v = task.computeControlLaw();
      velocities.push_back(v);
 
      // Update true pose
      vpPoseVector p;
      robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
      cTw = robot.get_fMc(q).inverse();
      cdTc_true = cdTw * cTw.inverse();
      vpPoseVector cdrc(cdTc_true);
      error.push_back(cdrc);
 
      // Display desired and current pose features
      vpDisplay::displayFrame(I, cdTo, cam, 0.05, vpColor::yellow, 2);
      vpDisplay::displayFrame(I, cTo, cam, 0.05, vpColor::none, 3);
 
      if (opt_plot) {
        plotter->plot(0, iter_plot, task.getError());
        plotter->plot(1, iter_plot, v);
        iter_plot++;
      }
 
      if (opt_verbose) {
        std::cout << "v: " << v.t() << std::endl;
      }
 
      vpTranslationVector cd_t_c = cdTc.getTranslationVector();
      vpThetaUVector cd_tu_c = cdTc.getThetaUVector();
      double error_tr = sqrt(cd_t_c.sumSquare());
      double error_tu = vpMath::deg(sqrt(cd_tu_c.sumSquare()));
      vpTranslationVector cd_t_c_true = cdTc_true.getTranslationVector();
      vpThetaUVector cd_tu_c_true = cdTc_true.getThetaUVector();
      double error_tr_true = sqrt(cd_t_c_true.sumSquare());
      double error_tu_true = vpMath::deg(sqrt(cd_tu_c_true.sumSquare()));
 
      ss.str("");
      ss << "Predicted error_t: " << error_tr << ", True error_t:" << error_tr_true;
      vpDisplay::displayText(I, 20, static_cast<int>(I.getWidth()) - 300, ss.str(), vpColor::red);
      ss.str("");
      ss << "Predicted error_tu: " << error_tu << ", True error_tu:" << error_tu_true;
      vpDisplay::displayText(I, 40, static_cast<int>(I.getWidth()) - 300, ss.str(), vpColor::red);
 
      if (opt_verbose)
        std::cout << "error translation: " << error_tr << " ; error rotation: " << error_tu << std::endl;
 
      if (error_tr < convergence_threshold_t && error_tu < convergence_threshold_tu) {
        has_converged = true;
        std::cout << "Servo task has converged" << std::endl;
        vpDisplay::displayText(I, 100, 20, "Servo task has converged", vpColor::red);
      }
 
      // Send to the robot
      robot.setVelocity(vpRobot::CAMERA_FRAME, v);
 
      ss.str("");
      ss << "Loop time: " << vpTime::measureTimeMs() - t_start << " ms";
      vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
      vpDisplay::flush(I);
      vpImage<vpRGBa> displayImage;
      vpDisplay::getImage(I, displayImage);
      writer.saveFrame(displayImage);
 
      vpMouseButton::vpMouseButtonType button;
      if (vpDisplay::getClick(I, button, false)) {
        switch (button) {
        case vpMouseButton::button1:
          send_velocities = !send_velocities;
          break;
 
        case vpMouseButton::button3:
          final_quit = true;
          v = 0;
          break;
 
        default:
          break;
        }
      }
    }
    std::cout << "Stop the robot " << std::endl;
    robot.setRobotState(vpRobot::STATE_STOP);
 
#ifdef VISP_HAVE_NLOHMANN_JSON
    // Save results to JSON
    json j = json {
      {"velocities", velocities},
      {"error", error}
    };
    std::ofstream jsonFile;
    jsonFile.open("results.json");
    jsonFile << j.dump(4);
    jsonFile.close();
#endif
 
    if (opt_plot && plotter != nullptr) {
      delete plotter;
      plotter = nullptr;
    }
 
    if (!final_quit) {
      while (!final_quit) {
        rs.acquire(I);
        vpDisplay::display(I);
 
        vpDisplay::displayText(I, 20, 20, "Click to quit the program.", vpColor::red);
        vpDisplay::displayText(I, 40, 20, "Visual servo converged.", vpColor::red);
 
        if (vpDisplay::getClick(I, false)) {
          final_quit = true;
        }
 
        vpDisplay::flush(I);
      }
    }
  }
  catch (const vpException &e) {
    std::cout << "ViSP exception: " << e.what() << std::endl;
    std::cout << "Stop the robot " << std::endl;
    robot.setRobotState(vpRobot::STATE_STOP);
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
    if (display != nullptr) {
      delete display;
    }
#endif
    return EXIT_FAILURE;
  }
  catch (const std::exception &e) {
    std::cout << "ur_rtde exception: " << e.what() << std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
    if (display != nullptr) {
      delete display;
    }
#endif
    return EXIT_FAILURE;
  }
 
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  if (display != nullptr) {
    delete display;
  }
#endif
  return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_REALSENSE2)
  std::cout << "Install librealsense-2.x" << std::endl;
#endif
#if !((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
  std::cout << "Build ViSP with c++17 or higher compiler flag (cmake -DUSE_CXX_STANDARD=17)." << std::endl;
#endif
#if !defined(VISP_HAVE_AFMA6)
  std::cout << "ViSP is not built with Afma-6 robot support..." << std::endl;
#endif
  return EXIT_SUCCESS;
}
#endif