y2019/vision/global_calibration.cc

#include <fstream>

#include "aos/logging/implementations.h"
#include "aos/logging/logging.h"
#include "aos/vision/blob/codec.h"
#include "aos/vision/blob/find_blob.h"
#include "aos/vision/events/socket_types.h"
#include "aos/vision/events/udp.h"
#include "aos/vision/image/image_dataset.h"
#include "aos/vision/image/image_stream.h"
#include "aos/vision/image/reader.h"
#include "y2019/vision/target_finder.h"

#undef CHECK_NOTNULL
#undef CHECK_OP
#undef PCHECK
// CERES Clashes with logging symbols...
#include "ceres/ceres.h"

using ::aos::events::DataSocket;
using ::aos::events::RXUdpSocket;
using ::aos::events::TCPServer;
using ::aos::vision::DataRef;
using ::aos::vision::Int32Codec;
using ::aos::monotonic_clock;
using aos::vision::Segment;

using ceres::NumericDiffCostFunction;
using ceres::CENTRAL;
using ceres::CostFunction;
using ceres::Problem;
using ceres::Solver;
using ceres::Solve;

namespace y2019 {
namespace vision {

constexpr double kInchesToMeters = 0.0254;

template <size_t k, size_t n, size_t n2, typename T>
T *MakeFunctor(T &&t) {
  return new T(std::move(t));
}

std::array<double, 3> GetError(const DatasetInfo &info,
                               const double *const extrinsics,
                               const double *const geometry, int i) {
  auto extrinsic_params = ExtrinsicParams::get(extrinsics);
  auto geo = CameraGeometry::get(geometry);

  const double s = sin(geo.heading + extrinsic_params.r2);
  const double c = cos(geo.heading + extrinsic_params.r2);

  // Take the tape measure starting point (this will be at the perimeter of the
  // robot), add the offset to the first sample, and then add the per sample
  // offset.
  const double dx =
      (info.to_tape_measure_start[0] +
       (info.beginning_tape_measure_reading + i) *
           info.tape_measure_direction[0]) /
          kInchesToMeters -
      (geo.location[0] + c * extrinsic_params.z) / kInchesToMeters;
  const double dy =
      (info.to_tape_measure_start[1] +
       (info.beginning_tape_measure_reading + i) *
           info.tape_measure_direction[1]) /
          kInchesToMeters -
      (geo.location[1] + s * extrinsic_params.z) / kInchesToMeters;

  constexpr double kCalibrationTargetHeight = 28.5;
  const double dz = kCalibrationTargetHeight -
                    (geo.location[2] + extrinsic_params.y) / kInchesToMeters;
  return {{dx, dy, dz}};
}

void main(int argc, char **argv) {
  (void)argc;
  (void)argv;
  using namespace y2019::vision;
  // gflags::ParseCommandLineFlags(&argc, &argv, false);

  int camera_id = 5;
  const char *base_directory = "/home/parker/data/frc/2019_calibration/";

  DatasetInfo info = {
      camera_id,
      {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
      {{kInchesToMeters, 0.0}},
      26,
      "cam5_0/debug_viewer_jpeg_",
      59,
  };

  ::aos::logging::Init();
  ::aos::logging::AddImplementation(
      new ::aos::logging::StreamLogImplementation(stderr));

  TargetFinder finder_;

  ceres::Problem problem;

  struct Sample {
    std::unique_ptr<double[]> extrinsics;
    int i;
  };
  std::vector<Sample> all_extrinsics;
  double intrinsics[IntrinsicParams::kNumParams];
  IntrinsicParams().set(&intrinsics[0]);

  double geometry[CameraGeometry::kNumParams];
  CameraGeometry().set(&geometry[0]);

  Solver::Options options;
  options.minimizer_progress_to_stdout = false;
  Solver::Summary summary;

  std::cout << summary.BriefReport() << "\n";
  auto intrinsics_ = IntrinsicParams::get(&intrinsics[0]);
  std::cout << "rup = " << intrinsics_.mount_angle * 180 / M_PI << ";\n";
  std::cout << "fl = " << intrinsics_.focal_length << ";\n";
  std::cout << "error = " << summary.final_cost << ";\n";

  for (int i = 0; i < info.num_images; ++i) {
    auto frame = aos::vision::LoadFile(std::string(base_directory) +
                                       info.filename_prefix +
                                       std::to_string(i) + ".yuyv");

    aos::vision::ImageFormat fmt{640, 480};
    aos::vision::BlobList imgs = aos::vision::FindBlobs(
        aos::vision::DoThresholdYUYV(fmt, frame.data.data(), 120));
    finder_.PreFilter(&imgs);

    bool verbose = false;
    std::vector<std::vector<Segment<2>>> raw_polys;
    for (const RangeImage &blob : imgs) {
      // Convert blobs to contours in the corrected space.
      ContourNode* contour = finder_.GetContour(blob);
      finder_.UnWarpContour(contour);
      std::vector<Segment<2>> polygon = finder_.FillPolygon(contour, verbose);
      if (polygon.empty()) {
      } else {
        raw_polys.push_back(polygon);
      }
    }

    // Calculate each component side of a possible target.
    std::vector<TargetComponent> target_component_list =
        finder_.FillTargetComponentList(raw_polys);

    // Put the compenents together into targets.
    std::vector<Target> target_list =
        finder_.FindTargetsFromComponents(target_component_list, verbose);

    // Use the solver to generate an intermediate version of our results.
    std::vector<IntermediateResult> results;
    for (const Target &target : target_list) {
      auto target_value = target.toPointList();
      auto template_value = finder_.GetTemplateTarget().toPointList();

      auto *extrinsics = new double[ExtrinsicParams::kNumParams];
      ExtrinsicParams().set(extrinsics);
      all_extrinsics.push_back({std::unique_ptr<double[]>(extrinsics), i});

      for (size_t j = 0; j < 8; ++j) {
        auto temp = template_value[j];
        auto targ = target_value[j];

        auto ftor = [temp, targ, i](const double *const intrinsics,
                                    const double *const extrinsics,
                                    double *residual) {
          auto in = IntrinsicParams::get(intrinsics);
          auto extrinsic_params = ExtrinsicParams::get(extrinsics);
          auto pt = targ - Project(temp, in, extrinsic_params);
          residual[0] = pt.x();
          residual[1] = pt.y();
          return true;
        };
        problem.AddResidualBlock(
            new NumericDiffCostFunction<decltype(ftor), CENTRAL, 2,
                                        IntrinsicParams::kNumParams,
                                        ExtrinsicParams::kNumParams>(
                new decltype(ftor)(std::move(ftor))),
            NULL, &intrinsics[0], extrinsics);
      }

      auto ftor = [&info, i](const double *const extrinsics,
                             const double *const geometry, double *residual) {
        auto err = GetError(info, extrinsics, geometry, i);
        residual[0] = 32.0 * err[0];
        residual[1] = 32.0 * err[1];
        residual[2] = 32.0 * err[2];
        return true;
      };

      problem.AddResidualBlock(
          new NumericDiffCostFunction<decltype(ftor), CENTRAL, 3,
                                      ExtrinsicParams::kNumParams,
                                      CameraGeometry::kNumParams>(
              new decltype(ftor)(std::move(ftor))),
          NULL, extrinsics, &geometry[0]);
    }
  }
  // TODO: Debug solver convergence?
  Solve(options, &problem, &summary);
  Solve(options, &problem, &summary);
  Solve(options, &problem, &summary);

  {
    std::cout << summary.BriefReport() << "\n";
    auto intrinsics_ = IntrinsicParams::get(&intrinsics[0]);
    auto geometry_ = CameraGeometry::get(&geometry[0]);
    std::cout << "rup = " << intrinsics_.mount_angle * 180 / M_PI << ";\n";
    std::cout << "fl = " << intrinsics_.focal_length << ";\n";
    std::cout << "error = " << summary.final_cost << ";\n";

    std::cout << "camera_angle = " << geometry_.heading * 180 / M_PI << "\n";
    std::cout << "camera_x = " << geometry_.location[0] / kInchesToMeters
              << "\n";
    std::cout << "camera_y = " << geometry_.location[1] / kInchesToMeters
              << "\n";
    std::cout << "camera_z = " << geometry_.location[2] / kInchesToMeters
              << "\n";
    std::cout << "camera_barrel = " << intrinsics_.barrel_mount * 180.0 / M_PI
              << "\n";

    for (auto &sample : all_extrinsics) {
      int i = sample.i;
      double *data = sample.extrinsics.get();

      auto extn = ExtrinsicParams::get(data);

      auto err = GetError(info, data, &geometry[0], i);

      std::cout << i << ", ";
      std::cout << extn.z / kInchesToMeters << ", ";
      std::cout << extn.y / kInchesToMeters << ", ";
      std::cout << extn.r1 * 180 / M_PI << ", ";
      std::cout << extn.r2 * 180 / M_PI << ", ";
      // TODO: Methodology problem: This should really have a separate solve for
      // extrinsics...
      std::cout << err[0] << ", ";
      std::cout << err[1] << ", ";
      std::cout << err[2] << "\n";
    }
  }

  CameraCalibration results;
  results.dataset = info;
  results.intrinsics = IntrinsicParams::get(&intrinsics[0]);
  results.geometry = CameraGeometry::get(&geometry[0]);
  DumpCameraConstants(camera_id, results);
}

}  // namespace y2019
}  // namespace vision

int main(int argc, char **argv) { y2019::vision::main(argc, argv); }