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[wpiutil] jni_util: Add JSpan and CriticalJSpan (#5554)

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These replace JArrayRef et al and support statically sized arrays similar to std::span.
This commit is contained in:
Joseph Eng
2023-08-24 00:02:56 -07:00
committed by GitHub
parent 8f3d6a1d4b
commit 2e4ad35e36
19 changed files with 333 additions and 317 deletions
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21
apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp
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@@ -504,15 +504,14 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseHomography
nullPointerEx.Throw(env, "homography cannot be null");
return nullptr;
}
JDoubleArrayRef harr{env, homography};
JSpan<const jdouble, 9> harr{env, homography};
if (harr.size() != 9) {
illegalArgEx.Throw(env, "homography array must be size 9");
return nullptr;
}
AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
return MakeJObject(env, estimator.EstimateHomography(
std::span<const double, 9>{harr.array()}));
return MakeJObject(env, estimator.EstimateHomography(harr));
}
/*
@@ -530,7 +529,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
nullPointerEx.Throw(env, "homography cannot be null");
return nullptr;
}
JDoubleArrayRef harr{env, homography};
JSpan<const jdouble, 9> harr{env, homography};
if (harr.size() != 9) {
illegalArgEx.Throw(env, "homography array must be size 9");
return nullptr;
@@ -541,7 +540,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
nullPointerEx.Throw(env, "corners cannot be null");
return nullptr;
}
JDoubleArrayRef carr{env, corners};
JSpan<const jdouble, 8> carr{env, corners};
if (carr.size() != 8) {
illegalArgEx.Throw(env, "corners array must be size 8");
return nullptr;
@@ -549,9 +548,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
return MakeJObject(env,
estimator.EstimateOrthogonalIteration(
std::span<const double, 9>{harr.array()},
std::span<const double, 8>{carr.array()}, nIters));
estimator.EstimateOrthogonalIteration(harr, carr, nIters));
}
/*
@@ -569,7 +566,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
nullPointerEx.Throw(env, "homography cannot be null");
return nullptr;
}
JDoubleArrayRef harr{env, homography};
JSpan<const jdouble, 9> harr{env, homography};
if (harr.size() != 9) {
illegalArgEx.Throw(env, "homography array must be size 9");
return nullptr;
@@ -580,16 +577,14 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
nullPointerEx.Throw(env, "corners cannot be null");
return nullptr;
}
JDoubleArrayRef carr{env, corners};
JSpan<const jdouble, 8> carr{env, corners};
if (carr.size() != 8) {
illegalArgEx.Throw(env, "corners array must be size 8");
return nullptr;
}
AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
return MakeJObject(
env, estimator.Estimate(std::span<const double, 9>{harr.array()},
std::span<const double, 8>{carr.array()}));
return MakeJObject(env, estimator.Estimate(harr, carr));
}
} // extern "C"