y2023/vision/target_mapping.cc

#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
#include "aos/util/mcap_logger.h"
#include "frc971/control_loops/pose.h"
#include "frc971/vision/calibration_generated.h"
#include "frc971/vision/charuco_lib.h"
#include "frc971/vision/target_mapper.h"
#include "frc971/vision/visualize_robot.h"
#include "opencv2/aruco.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/core/eigen.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include "y2023/constants/simulated_constants_sender.h"
#include "y2023/vision/aprilrobotics.h"
#include "y2023/vision/vision_util.h"

DEFINE_string(json_path, "y2023/vision/maps/target_map.json",
              "Specify path for json with initial pose guesses.");
DEFINE_string(config, "",
              "If set, override the log's config file with this one.");
DEFINE_string(constants_path, "y2023/constants/constants.json",
              "Path to the constant file");
DEFINE_string(output_dir, "y2023/vision/maps",
              "Directory to write solved target map to");
DEFINE_string(field_name, "charged_up",
              "Field name, for the output json filename and flatbuffer field");
DEFINE_int32(team_number, 0,
             "Required: Use the calibration for a node with this team number");
DEFINE_string(mcap_output_path, "/tmp/log.mcap", "Log to output.");
DEFINE_string(pi, "pi1", "Pi name to generate mcap log for; defaults to pi1.");
DEFINE_double(max_pose_error, 1e-6,
              "Throw out target poses with a higher pose error than this");
DEFINE_double(
    max_pose_error_ratio, 0.4,
    "Throw out target poses with a higher pose error ratio than this");
DEFINE_uint64(wait_key, 0,
              "Time in ms to wait between images, if no click (0 to wait "
              "indefinitely until click).");
DEFINE_uint64(skip_to, 1,
              "Start at combined image of this number (1 is the first image)");
DEFINE_bool(solve, true, "Whether to solve for the field's target map.");

namespace y2023 {
namespace vision {
using frc971::vision::DataAdapter;
using frc971::vision::ImageCallback;
using frc971::vision::PoseUtils;
using frc971::vision::TargetMap;
using frc971::vision::TargetMapper;
using frc971::vision::VisualizeRobot;
namespace calibration = frc971::vision::calibration;

// Change reference frame from camera to robot
Eigen::Affine3d CameraToRobotDetection(Eigen::Affine3d H_camera_target,
                                       Eigen::Affine3d extrinsics) {
  const Eigen::Affine3d H_robot_camera = extrinsics;
  const Eigen::Affine3d H_robot_target = H_robot_camera * H_camera_target;
  return H_robot_target;
}

const int kImageWidth = 1000;
// Map from pi node name to color for drawing
const std::map<std::string, cv::Scalar> kPiColors = {
    {"pi1", cv::Scalar(255, 0, 255)},
    {"pi2", cv::Scalar(255, 255, 0)},
    {"pi3", cv::Scalar(0, 255, 255)},
    {"pi4", cv::Scalar(255, 165, 0)},
};

// Add detected apriltag poses relative to the robot to
// timestamped_target_detections
void HandleAprilTags(const TargetMap &map,
                     aos::distributed_clock::time_point pi_distributed_time,
                     std::vector<DataAdapter::TimestampedDetection>
                         *timestamped_target_detections,
                     Eigen::Affine3d extrinsics, std::string node_name,
                     frc971::vision::TargetMapper target_loc_mapper,
                     std::set<std::string> *drawn_nodes,
                     VisualizeRobot *vis_robot, size_t *display_count,
                     aos::distributed_clock::time_point *last_draw_time) {
  bool drew = false;
  std::stringstream label;
  label << node_name << " - ";

  for (const auto *target_pose_fbs : *map.target_poses()) {
    // Skip detections with high pose errors
    if (target_pose_fbs->pose_error() > FLAGS_max_pose_error) {
      VLOG(1) << " Skipping tag " << target_pose_fbs->id()
              << " due to pose error of " << target_pose_fbs->pose_error();
      continue;
    }
    // Skip detections with high pose error ratios
    if (target_pose_fbs->pose_error_ratio() > FLAGS_max_pose_error_ratio) {
      VLOG(1) << " Skipping tag " << target_pose_fbs->id()
              << " due to pose error ratio of "
              << target_pose_fbs->pose_error_ratio();
      continue;
    }

    const TargetMapper::TargetPose target_pose =
        PoseUtils::TargetPoseFromFbs(*target_pose_fbs);

    Eigen::Affine3d H_camera_target =
        Eigen::Translation3d(target_pose.pose.p) * target_pose.pose.q;
    Eigen::Affine3d H_robot_target =
        CameraToRobotDetection(H_camera_target, extrinsics);

    ceres::examples::Pose3d target_pose_camera =
        PoseUtils::Affine3dToPose3d(H_camera_target);
    double distance_from_camera = target_pose_camera.p.norm();
    double distortion_factor = target_pose_fbs->distortion_factor();

    CHECK(map.has_monotonic_timestamp_ns())
        << "Need detection timestamps for mapping";

    timestamped_target_detections->emplace_back(
        DataAdapter::TimestampedDetection{
            .time = pi_distributed_time,
            .H_robot_target = H_robot_target,
            .distance_from_camera = distance_from_camera,
            .distortion_factor = distortion_factor,
            .id = static_cast<TargetMapper::TargetId>(target_pose.id)});

    if (FLAGS_visualize) {
      // If we've already drawn in the current image,
      // display it before clearing and adding the new poses
      if (drawn_nodes->count(node_name) != 0) {
        (*display_count)++;
        cv::putText(vis_robot->image_,
                    "Poses #" + std::to_string(*display_count),
                    cv::Point(600, 10), cv::FONT_HERSHEY_PLAIN, 1.0,
                    cv::Scalar(255, 255, 255));

        if (*display_count >= FLAGS_skip_to) {
          cv::imshow("View", vis_robot->image_);
          cv::waitKey(FLAGS_wait_key);
        } else {
          VLOG(1) << "At poses #" << std::to_string(*display_count);
        }
        vis_robot->ClearImage();
        drawn_nodes->clear();
      }

      Eigen::Affine3d H_world_target = PoseUtils::Pose3dToAffine3d(
          target_loc_mapper.GetTargetPoseById(target_pose_fbs->id())->pose);
      Eigen::Affine3d H_world_robot = H_world_target * H_robot_target.inverse();
      VLOG(2) << node_name << ", " << target_pose_fbs->id()
              << ", t = " << pi_distributed_time
              << ", pose_error = " << target_pose_fbs->pose_error()
              << ", pose_error_ratio = " << target_pose_fbs->pose_error_ratio()
              << ", robot_pos (x,y,z) + "
              << H_world_robot.translation().transpose();

      label << "id " << target_pose_fbs->id() << ": err "
            << (target_pose_fbs->pose_error() / FLAGS_max_pose_error)
            << " ratio " << target_pose_fbs->pose_error_ratio() << " ";

      vis_robot->DrawRobotOutline(H_world_robot,
                                  std::to_string(target_pose_fbs->id()),
                                  kPiColors.at(node_name));

      vis_robot->DrawFrameAxes(H_world_target,
                               std::to_string(target_pose_fbs->id()),
                               kPiColors.at(node_name));
      drew = true;
      *last_draw_time = pi_distributed_time;
    }
  }
  if (drew) {
    size_t pi_number =
        static_cast<size_t>(node_name[node_name.size() - 1] - '0');
    cv::putText(vis_robot->image_, label.str(),
                cv::Point(10, 10 + 20 * pi_number), cv::FONT_HERSHEY_PLAIN, 1.0,
                kPiColors.at(node_name));

    drawn_nodes->emplace(node_name);
  } else if (pi_distributed_time - *last_draw_time >
                 std::chrono::milliseconds(30) &&
             *display_count >= FLAGS_skip_to) {
    // Clear the image if we haven't draw in a while
    vis_robot->ClearImage();
    cv::imshow("View", vis_robot->image_);
    cv::waitKey(FLAGS_wait_key);
  }
}

// Get images from pi and pass apriltag positions to HandleAprilTags()
void HandlePiCaptures(
    aos::EventLoop *detection_event_loop, aos::EventLoop *mapping_event_loop,
    aos::logger::LogReader *reader,
    std::vector<DataAdapter::TimestampedDetection>
        *timestamped_target_detections,
    std::vector<std::unique_ptr<AprilRoboticsDetector>> *detectors,
    std::set<std::string> *drawn_nodes, VisualizeRobot *vis_robot,
    size_t *display_count, aos::distributed_clock::time_point *last_draw_time) {
  static constexpr std::string_view kImageChannel = "/camera";
  // For the robots, we need to flip the image since the cameras are rolled by
  // 180 degrees
  bool flip_image = (FLAGS_team_number != 7971);
  auto detector_ptr = std::make_unique<AprilRoboticsDetector>(
      detection_event_loop, kImageChannel, flip_image);
  // Get the camera extrinsics
  cv::Mat extrinsics_cv = detector_ptr->extrinsics().value();
  Eigen::Matrix4d extrinsics_matrix;
  cv::cv2eigen(extrinsics_cv, extrinsics_matrix);
  const auto extrinsics = Eigen::Affine3d(extrinsics_matrix);

  detectors->emplace_back(std::move(detector_ptr));

  ceres::examples::VectorOfConstraints target_constraints;
  frc971::vision::TargetMapper target_loc_mapper(FLAGS_json_path,
                                                 target_constraints);

  mapping_event_loop->MakeWatcher("/camera", [=](const TargetMap &map) {
    aos::distributed_clock::time_point pi_distributed_time =
        reader->event_loop_factory()
            ->GetNodeEventLoopFactory(mapping_event_loop->node())
            ->ToDistributedClock(aos::monotonic_clock::time_point(
                aos::monotonic_clock::duration(map.monotonic_timestamp_ns())));

    std::string node_name = detection_event_loop->node()->name()->str();
    HandleAprilTags(map, pi_distributed_time, timestamped_target_detections,
                    extrinsics, node_name, target_loc_mapper, drawn_nodes,
                    vis_robot, display_count, last_draw_time);
  });
}

void MappingMain(int argc, char *argv[]) {
  std::vector<std::string> unsorted_logfiles =
      aos::logger::FindLogs(argc, argv);

  std::vector<DataAdapter::TimestampedDetection> timestamped_target_detections;

  std::optional<aos::FlatbufferDetachedBuffer<aos::Configuration>> config =
      (FLAGS_config.empty()
           ? std::nullopt
           : std::make_optional(aos::configuration::ReadConfig(FLAGS_config)));

  // open logfiles
  aos::logger::LogReader reader(
      aos::logger::SortParts(unsorted_logfiles),
      config.has_value() ? &config->message() : nullptr);
  // Send new april tag poses. This allows us to take a log of images, then
  // play with the april detection code and see those changes take effect in
  // mapping
  constexpr size_t kNumPis = 4;
  for (size_t i = 1; i <= kNumPis; i++) {
    reader.RemapLoggedChannel(absl::StrFormat("/pi%u/camera", i),
                              "frc971.vision.TargetMap");
    reader.RemapLoggedChannel(absl::StrFormat("/pi%u/camera", i),
                              "foxglove.ImageAnnotations");
    reader.RemapLoggedChannel(absl::StrFormat("/pi%u/constants", i),
                              "y2023.Constants");
  }

  reader.RemapLoggedChannel("/imu/constants", "y2023.Constants");

  reader.Register();

  SendSimulationConstants(reader.event_loop_factory(), FLAGS_team_number,
                          FLAGS_constants_path);

  std::vector<std::unique_ptr<AprilRoboticsDetector>> detectors;
  VisualizeRobot vis_robot;
  std::set<std::string> drawn_nodes;
  size_t display_count = 0;
  aos::distributed_clock::time_point last_draw_time =
      aos::distributed_clock::min_time;

  const aos::Node *pi1 =
      aos::configuration::GetNode(reader.configuration(), "pi1");
  std::unique_ptr<aos::EventLoop> pi1_detection_event_loop =
      reader.event_loop_factory()->MakeEventLoop("pi1_detection", pi1);
  std::unique_ptr<aos::EventLoop> pi1_mapping_event_loop =
      reader.event_loop_factory()->MakeEventLoop("pi1_mapping", pi1);
  HandlePiCaptures(pi1_detection_event_loop.get(), pi1_mapping_event_loop.get(),
                   &reader, &timestamped_target_detections, &detectors,
                   &drawn_nodes, &vis_robot, &display_count, &last_draw_time);

  const aos::Node *pi2 =
      aos::configuration::GetNode(reader.configuration(), "pi2");
  std::unique_ptr<aos::EventLoop> pi2_detection_event_loop =
      reader.event_loop_factory()->MakeEventLoop("pi2_detection", pi2);
  std::unique_ptr<aos::EventLoop> pi2_mapping_event_loop =
      reader.event_loop_factory()->MakeEventLoop("pi2_mapping", pi2);
  HandlePiCaptures(pi2_detection_event_loop.get(), pi2_mapping_event_loop.get(),
                   &reader, &timestamped_target_detections, &detectors,
                   &drawn_nodes, &vis_robot, &display_count, &last_draw_time);

  const aos::Node *pi3 =
      aos::configuration::GetNode(reader.configuration(), "pi3");
  std::unique_ptr<aos::EventLoop> pi3_detection_event_loop =
      reader.event_loop_factory()->MakeEventLoop("pi3_detection", pi3);
  std::unique_ptr<aos::EventLoop> pi3_mapping_event_loop =
      reader.event_loop_factory()->MakeEventLoop("pi3_mapping", pi3);
  HandlePiCaptures(pi3_detection_event_loop.get(), pi3_mapping_event_loop.get(),
                   &reader, &timestamped_target_detections, &detectors,
                   &drawn_nodes, &vis_robot, &display_count, &last_draw_time);

  const aos::Node *pi4 =
      aos::configuration::GetNode(reader.configuration(), "pi4");
  std::unique_ptr<aos::EventLoop> pi4_detection_event_loop =
      reader.event_loop_factory()->MakeEventLoop("pi4_detection", pi4);
  std::unique_ptr<aos::EventLoop> pi4_mapping_event_loop =
      reader.event_loop_factory()->MakeEventLoop("pi4_mapping", pi4);
  HandlePiCaptures(pi4_detection_event_loop.get(), pi4_mapping_event_loop.get(),
                   &reader, &timestamped_target_detections, &detectors,
                   &drawn_nodes, &vis_robot, &display_count, &last_draw_time);

  std::unique_ptr<aos::EventLoop> mcap_event_loop;
  std::unique_ptr<aos::McapLogger> relogger;
  if (!FLAGS_mcap_output_path.empty()) {
    LOG(INFO) << "Writing out mcap file to " << FLAGS_mcap_output_path;
    const aos::Node *node =
        aos::configuration::GetNode(reader.configuration(), FLAGS_pi);
    reader.event_loop_factory()->GetNodeEventLoopFactory(node)->OnStartup(
        [&relogger, &mcap_event_loop, &reader, node]() {
          mcap_event_loop =
              reader.event_loop_factory()->MakeEventLoop("mcap", node);
          relogger = std::make_unique<aos::McapLogger>(
              mcap_event_loop.get(), FLAGS_mcap_output_path,
              aos::McapLogger::Serialization::kFlatbuffer,
              aos::McapLogger::CanonicalChannelNames::kShortened,
              aos::McapLogger::Compression::kLz4);
        });
  }

  if (FLAGS_visualize) {
    vis_robot.ClearImage();
    const double kFocalLength = 500.0;
    vis_robot.SetDefaultViewpoint(kImageWidth, kFocalLength);
  }

  reader.event_loop_factory()->Run();

  if (FLAGS_solve) {
    auto target_constraints =
        DataAdapter::MatchTargetDetections(timestamped_target_detections);

    frc971::vision::TargetMapper mapper(FLAGS_json_path, target_constraints);
    mapper.Solve(FLAGS_field_name, FLAGS_output_dir);
  }

  // Clean up all the pointers
  for (auto &detector_ptr : detectors) {
    detector_ptr.reset();
  }
}

}  // namespace vision
}  // namespace y2023

int main(int argc, char **argv) {
  aos::InitGoogle(&argc, &argv);
  y2023::vision::MappingMain(argc, argv);
}