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Rainbow
2
Rainbow
ViSP
Visual Servoing Platform
Fabien Spindler
Rainbow research team
Inria Rennes Bretagne Atlantique
Station F Tech Talk, January 30 2019
https://visp-doc.inria.fr/slide/2019.01.Tech.Talk.ViSP.pdf
Fabien.Spindler@inria.fr
3
Rainbow
Context
A software born in Rennes in 1999 at IRISA – Inria Rennes Bretagne Atlantique
Objective: help research team involved in vision-based robot control
Eric
Marchand
François
Chaumette
Fabien
Spindler
1. Context 2. Overview 3. Use Cases 4. Conclusion
4
Rainbow
What is ViSP
A toolbox for real-time visual tracking and visual servoing
Developed at Inria since 1999, released as open-source in 2005
Applications in robotics and augmented reality
Modular and extendable architecture
Open source (GNU GPL v2) + Professional Edition License
C++ cross platform, 535 000 lines of code
Fully documented
Used as a basis for all our developments and transfer
Used worldwide in many other labs, schools, companies
Cross-compilation for Raspberry, WindowsPhone, WindowsStore, iOS, Android
Binary packages for OSX, iOS, Ubuntu, Debian, Arch Linux, ROS
Today developed in the Rainbow research team, with strong support from Inria over the years
1. Context 2. Overview 3. Use Cases 4. Conclusion
5
Rainbow
AR Hardware abstraction Bridges Cross platform
Visual tracking
Blob trackers, moving edges,
model-based trackers,
keypoint trackers, template
tracker.
Visual servoing
IBVS, PBVS, 2D ½ and
many other control laws
for eye-in-hand and
eye-to-hand systems.
Detection Computer vision
QR code, AprilTag, face
detection (CNN), 3D object
detection based on keypoints
Pose and homography
estimation.
Bridges with Naoqi, OpenCV
and YARP, ROS nodes for
camera calibration
and tracking.
Support multi OS (Fedora,
Ubuntu, Debian, Linux Mint,
OSX, iOS, Windows), but also
compilers (g++, MinGW,
msvc…) and IDE.
Control
Perception
+
-
s*
s
YARP
ROSNaoQi ViSP
a
tb, a
Rb
a
Hb
a
~n
d1
P
Ca
Cb
P
c
Mo
Fc
Fo
OpenCV
Provide generic interfaces over
robots, framegrabbers and
display devices.
Provides a wrapper over Ogre
3D and Unity engine for
augmented reality
applications.
1. Context 2. Overview 3. Use Cases 4. Conclusion
6
Rainbow
Mathematics core Simulation Real-time data plotter End user tools
Many more features Powerful API
C/C++, 535 000 lines,
more than 265 classes fully
documented, 390 examples
270 sample codes, and 80
tutorials.
Forge Open source license
Dual licence. Released under
the terms of the open source
GPLv2 license. Also available
as a professional edition.
Display in real-time and record
time-graphs,
x/y-graphs or 3D curves.
Camera calibration,
hand-eye calibration.
Hosted on Github. Mailing
lists, forum, bug tackers,
continuous integration.
Image and movie reader and
recorder, XML I/O, filtering,
mathematical morphology,
data transmission over the
network...
v = L+
(s s⇤
)
Operations on vectors,
matrices, homogeneous
transformations, pseudo-
inverse or SVD computation.
Includes wireframe and robot
viewers, planar textures
generator.
1. Context 2. Overview 3. Use Cases 4. Conclusion
7
Rainbow
ViSP Timeline
ViSP 2.x was 10 years old, flat structure
ViSP 3.x since 2015
• Source code re-organized in separate modules (inspired from OpenCV)
• Ease contributions and transfer to partners
• A few wrong things from 2.x C++ API corrected or deprecated
• Everything is done to keep compat with ViSP previous versions
Version Released Reason Lifetime
1.0 1999 Internal 6 years
2.0 2005 Open Source 10 years
3.0 2015 Several (modular libraries, transfert…)
2014 2015
02/2014
ViSP 2.9.0
Template tracker
02/2015
ViSP 2.10.0
Detection
2016
12/2015
ViSP 3.0.0
Modularity
Template tracker MI
2017
01/2017
ViSP 3.0.1
2018
12/2017
ViSP 3.1.0
MBT generic
Apriltag
01/2019
ViSP 3.2.0
Franka
2019
1. Context 2. Overview 3. Use Cases 4. Conclusion
8
Rainbow
Modular Architecture
A convenient infrastructure for extension (UsTK) or contributions (Tutorial)
• From outside could be seen as a unique project with multiple modules
• Can benefit from existing continuous integration workflow (testing)
• Contributions are nothing more than new modules apart from ViSP
ViSP 3.x
Contrib 1
Contrib 2
17 modules
Hardware abstraction level
Auto dependency check
Optional 3rd parties
1. Context 2. Overview 3. Use Cases 4. Conclusion
9
Rainbow
UsTK: Modular Ultrasound Toolkit Extension
UsTK is a ViSP extension in C++ with a basket of external modules dedicated to
• real-time ultrasound image acquisition (Sonosite + Ultrasonix)
• real-time ultrasound image processing and display (2D/3D)
• fast prototyping of robotic application based on ultrasound visual servoing
• sustainability of Rainbow’s Phd research development (ultrasound robotic demos)
Specific modules to:
• Track a flexible needle in a sequence of 2D US images or a dense ROI
• Generate a confidence map or a strain map (elastogram)
electonic sweep mecanical sweep
motorconvexe 3D probe
Scan line
1. Context 2. Overview 3. Use Cases 4. Conclusion
10
Rainbow
ViSP Quality
A public forge: https://github.com/lagadic/visp
Continuous integration builder for OSX, Linux, Windows: https://ci.inria.fr
Test each pull request using Travis, Appveyor, Jenkins
Static code analysis (SonarQube, cppcheck)
Bug tracker, forum
A public dashboard: https://cdash.inria.fr
1. Context 2. Overview 3. Use Cases 4. Conclusion
11
Rainbow
Alive Project
ViSP evolves every day
More and more contributors
1. Context 2. Overview 3. Use Cases 4. Conclusion
12
Rainbow
Use Case: Augmented Reality
1. Context 2. Overview 3. Use Cases 4. Conclusion
13
Rainbow
Use Case: Aircraft Panel Localization
1. Context 2. Overview 3. Use Cases 4. Conclusion
14
Rainbow
Use Case: Robot – Human Interaction
1. Context 2. Overview 3. Use Cases 4. Conclusion
15
Rainbow
Use Case: Robot Navigation
1. Context 2. Overview 3. Use Cases 4. Conclusion
16
Rainbow
Use Case: Shared Control
First development in simulation
1. Context 2. Overview 3. Use Cases 4. Conclusion
17
Rainbow
Use Case: Shared Control
Internal validation on real experimental platform using 2 Adept Viper robots
1. Context 2. Overview 3. Use Cases 4. Conclusion
18
Rainbow
Use Case: Shared Control
Technology transfert to CEA in Saclay
1. Context 2. Overview 3. Use Cases 4. Conclusion
19
Rainbow
Use Case: Pick & Place
1. Context 2. Overview 3. Use Cases 4. Conclusion
20
Rainbow
Use Case: Assitance to Wheelchair Driving
1. Context 2. Overview 3. Use Cases 4. Conclusion
21
Rainbow
Use Case: Robot Assisted Needle Insertion
1. Context 2. Overview 3. Use Cases 4. Conclusion
22
Rainbow
Conclusion
ViSP is an open-source project
• Contains a set of real-time visual tracking algorithms useful to implement real visual servoing
applications
• Hardware abstraction layer to use state of the art material
Dual licencing model
• GPL for research, internal usage
• Professional Edition licence for non open-
source developments
Feel free to contribute !
Tutorial
1. Context 2. Overview 3. Use Cases 4. Conclusion
23
Rainbow
Non exhaustive known users
ViSP licenses
Dilepix: Exclusive license in the field of agriculture
ViSP Users
1. Context 2. Overview 3. Use Cases 4. Conclusion
24
Rainbow
Useful links
ViSP
• Home: https://visp.inria.fr
• API Documentation: http://visp-doc.inria.fr/doxygen/visp-daily
• Q&A forum: http://gforge.inria.fr/forum
• Github: https://github.com/lagadic/visp
ViSP & naoqi
• https://github.com/lagadic/visp_naoqi
• Romeo: https://github.com/lagadic/romeo_tk
ViSP & ROS
• https://github.com/lagadic/vision_visp
• https://github.com/lagadic/visp_ros
• Pioneer: https://github.com/lagadic/demo_pioneer
UsTK
• Home: https://ustk.inria.fr
YouTube
• https://www.youtube.com/user/VispTeam
1. Context 2. Overview 3. Use Cases 4. Conclusion
25
Rainbow
MERCI !

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Inria Tech Talk : Améliorez vos applications de robotique & réalité augmentée

  • 2. 2 Rainbow ViSP Visual Servoing Platform Fabien Spindler Rainbow research team Inria Rennes Bretagne Atlantique Station F Tech Talk, January 30 2019 https://visp-doc.inria.fr/slide/2019.01.Tech.Talk.ViSP.pdf Fabien.Spindler@inria.fr
  • 3. 3 Rainbow Context A software born in Rennes in 1999 at IRISA – Inria Rennes Bretagne Atlantique Objective: help research team involved in vision-based robot control Eric Marchand François Chaumette Fabien Spindler 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 4. 4 Rainbow What is ViSP A toolbox for real-time visual tracking and visual servoing Developed at Inria since 1999, released as open-source in 2005 Applications in robotics and augmented reality Modular and extendable architecture Open source (GNU GPL v2) + Professional Edition License C++ cross platform, 535 000 lines of code Fully documented Used as a basis for all our developments and transfer Used worldwide in many other labs, schools, companies Cross-compilation for Raspberry, WindowsPhone, WindowsStore, iOS, Android Binary packages for OSX, iOS, Ubuntu, Debian, Arch Linux, ROS Today developed in the Rainbow research team, with strong support from Inria over the years 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 5. 5 Rainbow AR Hardware abstraction Bridges Cross platform Visual tracking Blob trackers, moving edges, model-based trackers, keypoint trackers, template tracker. Visual servoing IBVS, PBVS, 2D ½ and many other control laws for eye-in-hand and eye-to-hand systems. Detection Computer vision QR code, AprilTag, face detection (CNN), 3D object detection based on keypoints Pose and homography estimation. Bridges with Naoqi, OpenCV and YARP, ROS nodes for camera calibration and tracking. Support multi OS (Fedora, Ubuntu, Debian, Linux Mint, OSX, iOS, Windows), but also compilers (g++, MinGW, msvc…) and IDE. Control Perception + - s* s YARP ROSNaoQi ViSP a tb, a Rb a Hb a ~n d1 P Ca Cb P c Mo Fc Fo OpenCV Provide generic interfaces over robots, framegrabbers and display devices. Provides a wrapper over Ogre 3D and Unity engine for augmented reality applications. 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 6. 6 Rainbow Mathematics core Simulation Real-time data plotter End user tools Many more features Powerful API C/C++, 535 000 lines, more than 265 classes fully documented, 390 examples 270 sample codes, and 80 tutorials. Forge Open source license Dual licence. Released under the terms of the open source GPLv2 license. Also available as a professional edition. Display in real-time and record time-graphs, x/y-graphs or 3D curves. Camera calibration, hand-eye calibration. Hosted on Github. Mailing lists, forum, bug tackers, continuous integration. Image and movie reader and recorder, XML I/O, filtering, mathematical morphology, data transmission over the network... v = L+ (s s⇤ ) Operations on vectors, matrices, homogeneous transformations, pseudo- inverse or SVD computation. Includes wireframe and robot viewers, planar textures generator. 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 7. 7 Rainbow ViSP Timeline ViSP 2.x was 10 years old, flat structure ViSP 3.x since 2015 • Source code re-organized in separate modules (inspired from OpenCV) • Ease contributions and transfer to partners • A few wrong things from 2.x C++ API corrected or deprecated • Everything is done to keep compat with ViSP previous versions Version Released Reason Lifetime 1.0 1999 Internal 6 years 2.0 2005 Open Source 10 years 3.0 2015 Several (modular libraries, transfert…) 2014 2015 02/2014 ViSP 2.9.0 Template tracker 02/2015 ViSP 2.10.0 Detection 2016 12/2015 ViSP 3.0.0 Modularity Template tracker MI 2017 01/2017 ViSP 3.0.1 2018 12/2017 ViSP 3.1.0 MBT generic Apriltag 01/2019 ViSP 3.2.0 Franka 2019 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 8. 8 Rainbow Modular Architecture A convenient infrastructure for extension (UsTK) or contributions (Tutorial) • From outside could be seen as a unique project with multiple modules • Can benefit from existing continuous integration workflow (testing) • Contributions are nothing more than new modules apart from ViSP ViSP 3.x Contrib 1 Contrib 2 17 modules Hardware abstraction level Auto dependency check Optional 3rd parties 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 9. 9 Rainbow UsTK: Modular Ultrasound Toolkit Extension UsTK is a ViSP extension in C++ with a basket of external modules dedicated to • real-time ultrasound image acquisition (Sonosite + Ultrasonix) • real-time ultrasound image processing and display (2D/3D) • fast prototyping of robotic application based on ultrasound visual servoing • sustainability of Rainbow’s Phd research development (ultrasound robotic demos) Specific modules to: • Track a flexible needle in a sequence of 2D US images or a dense ROI • Generate a confidence map or a strain map (elastogram) electonic sweep mecanical sweep motorconvexe 3D probe Scan line 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 10. 10 Rainbow ViSP Quality A public forge: https://github.com/lagadic/visp Continuous integration builder for OSX, Linux, Windows: https://ci.inria.fr Test each pull request using Travis, Appveyor, Jenkins Static code analysis (SonarQube, cppcheck) Bug tracker, forum A public dashboard: https://cdash.inria.fr 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 11. 11 Rainbow Alive Project ViSP evolves every day More and more contributors 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 12. 12 Rainbow Use Case: Augmented Reality 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 13. 13 Rainbow Use Case: Aircraft Panel Localization 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 14. 14 Rainbow Use Case: Robot – Human Interaction 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 15. 15 Rainbow Use Case: Robot Navigation 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 16. 16 Rainbow Use Case: Shared Control First development in simulation 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 17. 17 Rainbow Use Case: Shared Control Internal validation on real experimental platform using 2 Adept Viper robots 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 18. 18 Rainbow Use Case: Shared Control Technology transfert to CEA in Saclay 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 19. 19 Rainbow Use Case: Pick & Place 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 20. 20 Rainbow Use Case: Assitance to Wheelchair Driving 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 21. 21 Rainbow Use Case: Robot Assisted Needle Insertion 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 22. 22 Rainbow Conclusion ViSP is an open-source project • Contains a set of real-time visual tracking algorithms useful to implement real visual servoing applications • Hardware abstraction layer to use state of the art material Dual licencing model • GPL for research, internal usage • Professional Edition licence for non open- source developments Feel free to contribute ! Tutorial 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 23. 23 Rainbow Non exhaustive known users ViSP licenses Dilepix: Exclusive license in the field of agriculture ViSP Users 1. Context 2. Overview 3. Use Cases 4. Conclusion
  • 24. 24 Rainbow Useful links ViSP • Home: https://visp.inria.fr • API Documentation: http://visp-doc.inria.fr/doxygen/visp-daily • Q&A forum: http://gforge.inria.fr/forum • Github: https://github.com/lagadic/visp ViSP & naoqi • https://github.com/lagadic/visp_naoqi • Romeo: https://github.com/lagadic/romeo_tk ViSP & ROS • https://github.com/lagadic/vision_visp • https://github.com/lagadic/visp_ros • Pioneer: https://github.com/lagadic/demo_pioneer UsTK • Home: https://ustk.inria.fr YouTube • https://www.youtube.com/user/VispTeam 1. Context 2. Overview 3. Use Cases 4. Conclusion