Merge pull request #1359 from SamFlt/feat_luminance_projections

[WIP] New photometric VS features + improvements to vpFeatureLuminance
lagadic · Jun 11, 2024 · 73d8a6a · 73d8a6a
2 parents f756223 + e9e69f1
commit 73d8a6a
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Showing 13 changed files with 2,334 additions and 250 deletions.
diff --git a/3rdparty/simdlib/Simd/SimdBaseCustomFunctions.cpp b/3rdparty/simdlib/Simd/SimdBaseCustomFunctions.cpp
diff --git a/doc/biblio/references.bib b/doc/biblio/references.bib
@@ -674,13 +674,37 @@ @article{Malvar2004HighqualityLI
   volume    = {3},
   pages     = {iii-485}
 }
+
 @inproceedings{Labbe2022Megapose,
   title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \& {{Compare}}},
   booktitle = {CoRL},
   author = {Labb\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef},
   date = {2022}
 }
 
+@ARTICLE{Marchand19a,
+  author={Marchand, Eric},
+  journal={IEEE Robotics and Automation Letters},
+  title={Subspace-Based Direct Visual Servoing},
+  year={2019},
+  volume={4},
+  number={3},
+  pages={2699-2706},
+  keywords={Visual servoing;Feature extraction;Principal component analysis;Voltage control;Image reconstruction;Task analysis;Cameras;Visual servoing;sensor-based control},
+  doi={10.1109/LRA.2019.2916263}
+}
+
+@ARTICLE{Marchand20a,
+  author={Marchand, Eric},
+  journal={IEEE Robotics and Automation Letters},
+  title={Direct Visual Servoing in the Frequency Domain},
+  year={2020},
+  volume={5},
+  number={2},
+  pages={620-627},
+  keywords={Discrete cosine transforms;Visual servoing;Frequency-domain analysis;Feature extraction;Visualization;Cameras;Visual servoing;sensor-based control},
+  doi={10.1109/LRA.2020.2965027}
+
 @InProceedings{Oliva22c,
    Author = {Oliva, A. and Spindler, F. and Robuffo Giordano, P. and Chaumette, F.},
    Title = {{A Dynamic Simulator for the Franka Emika Robot with Visual-Servoing Enabled Capabilities}},

diff --git a/example/direct-visual-servoing/CMakeLists.txt b/example/direct-visual-servoing/CMakeLists.txt
@@ -41,6 +41,7 @@ find_package(VISP REQUIRED visp_core visp_robot visp_visual_features visp_vs vis
 
 set(example_cpp
   photometricVisualServoing.cpp
+  photometricMappingVisualServoing.cpp
   photometricVisualServoingWithoutVpServo.cpp
 )
 
@@ -53,7 +54,9 @@ endforeach()
 
 visp_set_source_file_compile_flag(photometricVisualServoing.cpp -Wno-strict-overflow)
 visp_set_source_file_compile_flag(photometricVisualServoingWithoutVpServo.cpp -Wno-strict-overflow)
-
+visp_set_source_file_compile_flag(photometricMappingVisualServoing.cpp -Wno-strict-overflow)
 # Only if dataset found for isolated build
 visp_add_test(photometricVisualServoing photometricVisualServoing -c -n 20 ${OPTION_TO_DESACTIVE_DISPLAY})
 visp_add_test(photometricVisualServoingWithoutVpServo photometricVisualServoingWithoutVpServo -c -n 20 ${OPTION_TO_DESACTIVE_DISPLAY})
+visp_add_test(photometricMappingPCAVisualServoing photometricMappingVisualServoing -c -n 200 -m pca -k 64 -p 100 -l 30.0 ${OPTION_TO_DESACTIVE_DISPLAY})
+visp_add_test(photometricMappingDCTVisualServoing photometricMappingVisualServoing -c -n 200  -m dct -k 64 -l 30.0  ${OPTION_TO_DESACTIVE_DISPLAY})