[robotpy] Mirror most other subprojects (#8208)

GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a

This mirrors the robotpy files for the following projects:
- apriltag
- datalog
- hal
- ntcore
- romiVendordep
- wpilibc
- wpimath
- xrpVendordep

This excludes cscore and the halsim wrappers for at this time.

NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.

apriltag/src/main/python/README.md

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+robotpy-apriltag
+================
+
+RobotPy wrappers around WPILib's version of the apriltag library.

apriltag/src/main/python/native-pyproject.toml

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+[build-system]
+build-backend = "hatchling.build"
+requires = [
+    "hatchling",
+    "hatch-nativelib~=0.2.0",
+    "hatch-robotpy~=0.2.1",
+    "robotpy-native-wpiutil==2027.0.0a2",
+    "robotpy-native-wpimath==2027.0.0a2",
+]
+
+[project]
+name = "robotpy-native-apriltag"
+version = "2027.0.0a2"
+description = "WPILib AprilTag Library"
+license = "BSD-3-Clause"
+
+dependencies = [
+    "robotpy-native-wpiutil==2027.0.0a2",
+    "robotpy-native-wpimath==2027.0.0a2",
+]
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/native"]
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "apriltag-cpp"
+group_id = "edu.wpi.first.apriltag"
+repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
+version = "2027.0.0-alpha-2"
+
+extract_to = "src/native/apriltag"
+libs = ["apriltag"]
+
+[[tool.hatch.build.hooks.nativelib.pcfile]]
+pcfile = "src/native/apriltag/robotpy-native-apriltag.pc"
+name = "apriltag"
+
+includedir = "src/native/apriltag/include"
+libdir = "src/native/apriltag/lib"
+shared_libraries = ["apriltag"]
+requires = ["robotpy-native-wpiutil", "robotpy-native-wpimath"]

apriltag/src/main/python/pyproject.toml

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+[build-system]
+build-backend = "hatchling.build"
+requires = [
+    "semiwrap~=0.1.7",
+    "hatch-meson~=0.1.0b2",
+    "hatch-robotpy~=0.2.1",
+    "hatchling",
+    "robotpy-native-apriltag==2027.0.0a2",
+    "robotpy-wpiutil==2027.0.0a2",
+    "robotpy-wpimath==2027.0.0a2",
+]
+
+[project]
+name = "robotpy-apriltag"
+version = "2027.0.0a2"
+description = "RobotPy bindings for WPILib's AprilTag library"
+authors = [
+    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
+]
+license = "BSD-3-Clause"
+dependencies = [
+    "robotpy-native-apriltag==2027.0.0a2",
+    "robotpy-wpiutil==2027.0.0a2",
+    "robotpy-wpimath==2027.0.0a2",
+]
+
+[project.urls]
+"Source code" = "https://github.com/robotpy/mostrobotpy"
+
+
+[tool.hatch.build.hooks.robotpy]
+version_file = "robotpy_apriltag/version.py"
+
+[tool.hatch.build.hooks.semiwrap]
+
+[tool.hatch.build.hooks.meson]
+
+[tool.hatch.build.targets.wheel]
+packages = ["robotpy_apriltag"]
+
+
+[tool.semiwrap]
+update_init = [
+  "robotpy_apriltag robotpy_apriltag._apriltag"
+]
+scan_headers_ignore = [
+  "common/*",
+  "test/*",
+
+  "apriltag.h",
+  "apriltag_math.h",
+  "apriltag_pose.h",
+
+  "frc/apriltag/AprilTagDetector_cv.h",
+
+  "tag16h5.h",
+  "tag36h11.h",
+]
+
+[tool.semiwrap.extension_modules."robotpy_apriltag._apriltag"]
+name = "apriltag"
+wraps = ["robotpy-native-apriltag"]
+depends = ["wpiutil", "wpimath"]
+
+[tool.semiwrap.extension_modules."robotpy_apriltag._apriltag".headers]
+# frc/apriltag
+AprilTag = "frc/apriltag/AprilTag.h"
+AprilTagDetection = "frc/apriltag/AprilTagDetection.h"
+AprilTagDetector = "frc/apriltag/AprilTagDetector.h"
+# AprilTagDetector_cv = "frc/apriltag/AprilTagDetector_cv.h"
+AprilTagFieldLayout = "frc/apriltag/AprilTagFieldLayout.h"
+AprilTagFields = "frc/apriltag/AprilTagFields.h"
+AprilTagPoseEstimate = "frc/apriltag/AprilTagPoseEstimate.h"
+AprilTagPoseEstimator = "frc/apriltag/AprilTagPoseEstimator.h"

apriltag/src/main/python/robotpy_apriltag/__init__.py

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+from . import _init__apriltag
+
+# autogenerated by 'semiwrap create-imports robotpy_apriltag robotpy_apriltag._apriltag'
+from ._apriltag import (
+    AprilTag,
+    AprilTagDetection,
+    AprilTagDetector,
+    AprilTagField,
+    AprilTagFieldLayout,
+    AprilTagPoseEstimate,
+    AprilTagPoseEstimator,
+)
+
+__all__ = [
+    "AprilTag",
+    "AprilTagDetection",
+    "AprilTagDetector",
+    "AprilTagField",
+    "AprilTagFieldLayout",
+    "AprilTagPoseEstimate",
+    "AprilTagPoseEstimator",
+]

apriltag/src/main/python/robotpy_apriltag/src/main.cpp

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+
+#include "semiwrap_init.robotpy_apriltag._apriltag.hpp"
+
+SEMIWRAP_PYBIND11_MODULE(m) { initWrapper(m); }

apriltag/src/main/python/semiwrap/AprilTag.yml

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+functions:
+  to_json:
+    ignore: true
+  from_json:
+    ignore: true
+classes:
+  frc::AprilTag:
+    attributes:
+      ID:
+      pose:
+    methods:
+      Generate36h11AprilTagImage:
+        ignore: true
+      Generate16h5AprilTagImage:
+        ignore: true
+      operator==:

apriltag/src/main/python/semiwrap/AprilTagDetection.yml

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+extra_includes:
+- pybind11/eigen.h
+
+classes:
+  frc::AprilTagDetection:
+    methods:
+      GetFamily:
+      GetId:
+      GetHamming:
+      GetDecisionMargin:
+      GetHomography:
+      GetHomographyMatrix:
+      GetCenter:
+      GetCorner:
+      GetCorners:
+    inline_code: |
+      .def("__repr__", [](const AprilTagDetection &self) {
+        return py::str("<AprilTagDetection tag_family={} tag_id={} hamming={} decision_margin={} center={}>")
+          .format(self.GetFamily(), self.GetId(), self.GetHamming(), self.GetDecisionMargin(), self.GetCenter());
+      })
+  frc::AprilTagDetection::Point:
+    attributes:
+      x:
+      y:
+    inline_code: |
+      .def(py::init([](double x, double y) {
+        AprilTagDetection::Point pt{x, y};
+        return std::make_unique<AprilTagDetection::Point>(std::move(pt));
+      }), py::arg("x"), py::arg("y"))
+      .def("__len__", [](const AprilTagDetection::Point &self) { return 2; })
+      .def("__getitem__", [](const AprilTagDetection::Point &self, int index) {
+        switch (index) {
+          case 0:
+            return self.x;
+          case 1:
+            return self.y;
+          default:
+            throw std::out_of_range("AprilTagDetection.Point index out of range");
+        }
+      })
+      .def("__repr__", [](const AprilTagDetection::Point &self) {
+        return py::str("AprilTagDetection.Point(x={}, y={})").format(self.x, self.y);
+      })

apriltag/src/main/python/semiwrap/AprilTagDetector.yml

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+extra_includes:
+- pybind11_typing.h
+
+classes:
+  frc::AprilTagDetector:
+    methods:
+      AprilTagDetector:
+      SetConfig:
+      GetConfig:
+      SetQuadThresholdParameters:
+      GetQuadThresholdParameters:
+      AddFamily:
+      RemoveFamily:
+      ClearFamilies:
+      Detect:
+        overloads:
+          int, int, int, uint8_t*:
+            ignore: true
+          int, int, uint8_t*:
+            ignore: true
+    inline_code: |
+      .def("detect", [](AprilTagDetector *self, py::buffer img) {
+
+        // validate the input image buffer
+        auto buf = img.request();
+        if (buf.ndim != 2) {
+          throw py::value_error("buffer must only have two dimensions");
+        } else if (buf.itemsize != 1) {
+          throw py::value_error("buffer elements must be bytes");
+        }
+
+        // We are going to move the detection result into this shared_ptr
+        // so that python can keep it alive. We don't expose the result directly
+        // to the user because we'd have to pretend it's a list, and that would
+        // be annoying. 
+        std::shared_ptr<AprilTagDetector::Results> c_result;
+        {
+          py::gil_scoped_release unlock;
+          c_result = std::make_shared<AprilTagDetector::Results>(std::move(self->Detect(buf.shape[1], buf.shape[0], (uint8_t*)buf.ptr)));
+        }
+
+        // This tells python about the shared_ptr, and it'll keep it alive as
+        // long as the python reference is alive. When we call get(), we marked
+        // the return value as reference_internal so python will keep the python
+        // reference for the results object alive for as long as all of its
+        // results that we put into the list are alive
+        py::object py_result = py::cast(c_result);
+        auto len = c_result->size();
+        auto get = py_result.attr("get");
+        py::typing::List<AprilTagDetection> l(len);
+        for (size_t i = 0; i < len; i++) {
+          l[i] = get(i);
+        }
+        return l;
+      }, py::arg("image"),
+        R"doc(
+          Detect tags from an 8-bit grayscale image with shape (height, width)
+
+          :return: list of results
+        )doc"
+      )
+  frc::AprilTagDetector::Config:
+    attributes:
+      numThreads:
+      quadDecimate:
+      quadSigma:
+      refineEdges:
+      decodeSharpening:
+      debug:
+    methods:
+      operator==:
+  frc::AprilTagDetector::QuadThresholdParameters:
+    attributes:
+      minClusterPixels:
+      maxNumMaxima:
+      criticalAngle:
+      maxLineFitMSE:
+      minWhiteBlackDiff:
+      deglitch:
+    methods:
+      operator==:
+  frc::AprilTagDetector::Results:
+    rename: _Results
+    ignored_bases:
+    - std::span<const AprilTagDetection* const>
+    force_no_trampoline: true
+    methods:
+      Results:
+        overloads:
+          '':
+            ignore: true
+          void*, const private_init&:
+            ignore: true
+    inline_code: |
+      // use the keepalive to keep the array of results around until
+      // the user deletes them
+      .def("get", [](const AprilTagDetector::Results &self, int i) {
+        return self[i];
+      }, py::return_value_policy::reference_internal)

apriltag/src/main/python/semiwrap/AprilTagFieldLayout.yml

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+functions:
+  to_json:
+    ignore: true
+  from_json:
+    ignore: true
+  LoadAprilTagLayoutField:
+    ignore: true
+classes:
+  frc::AprilTagFieldLayout:
+    enums:
+      OriginPosition:
+    methods:
+      AprilTagFieldLayout:
+        overloads:
+          '':
+          std::string_view:
+          std::vector<AprilTag>, units::meter_t, units::meter_t:
+      LoadField:
+      GetFieldLength:
+      GetFieldWidth:
+      GetTags:
+      SetOrigin:
+        overloads:
+          OriginPosition:
+          const Pose3d&:
+      GetOrigin:
+      GetTagPose:
+      Serialize:
+      operator==:

apriltag/src/main/python/semiwrap/AprilTagFields.yml

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+enums:
+  AprilTagField:

apriltag/src/main/python/semiwrap/AprilTagPoseEstimate.yml

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+classes:
+  frc::AprilTagPoseEstimate:
+    attributes:
+      pose1:
+      pose2:
+      error1:
+      error2:
+    methods:
+      GetAmbiguity:

apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml

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+extra_includes:
+- frc/apriltag/AprilTagDetection.h
+
+classes:
+  frc::AprilTagPoseEstimator:
+    methods:
+      AprilTagPoseEstimator:
+      SetConfig:
+      GetConfig:
+      EstimateHomography:
+        overloads:
+          const AprilTagDetection& [const]:
+          std::span<const double, 9> [const]:
+      EstimateOrthogonalIteration:
+        overloads:
+          const AprilTagDetection&, int [const]:
+          std::span<const double, 9>, std::span<const double, 8>, int [const]:
+      Estimate:
+        overloads:
+          const AprilTagDetection& [const]:
+          std::span<const double, 9>, std::span<const double, 8> [const]:
+  frc::AprilTagPoseEstimator::Config:
+    force_no_default_constructor: true
+    attributes:
+      tagSize:
+      fx:
+      fy:
+      cx:
+      cy:
+    methods:
+      operator==:
+    inline_code: |
+      .def(py::init([](units::meter_t tagSize, double fx, double fy, double cx, double cy) {
+        AprilTagPoseEstimator::Config cfg{tagSize, fx, fy, cx, cy};
+        return std::make_unique<AprilTagPoseEstimator::Config>(std::move(cfg));
+      }), py::arg("tagSize"), py::arg("fx"), py::arg("fy"), py::arg("cx"), py::arg("cy"))

apriltag/src/test/python/test_detection.py

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+import cv2
+import robotpy_apriltag
+from wpimath.geometry import Transform3d
+
+import math
+import pathlib
+import pytest
+
+
+def test_point():
+    point = robotpy_apriltag.AprilTagDetection.Point()
+
+    x, y = point
+
+    assert x == 0
+    assert y == 0
+
+
+def _load_grayscale_image(fname):
+    full_path = pathlib.Path(__file__).parent / fname
+    img = cv2.imread(str(full_path))
+    return cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+
+
+def test_1():
+    detector = robotpy_apriltag.AprilTagDetector()
+    assert detector.addFamily("tag16h5")
+    assert detector.addFamily("tag36h11")
+
+    img = _load_grayscale_image("tag1_640_480.jpg")
+    results = detector.detect(img)
+
+    assert len(results) == 1
+    assert results[0].getFamily() == "tag36h11"
+    assert results[0].getId() == 1
+    assert results[0].getHamming() == 0
+
+    estimator = robotpy_apriltag.AprilTagPoseEstimator(
+        robotpy_apriltag.AprilTagPoseEstimator.Config(0.2, 500, 500, 320, 240)
+    )
+
+    est = estimator.estimateOrthogonalIteration(results[0], 50)
+    assert est.pose2 == Transform3d()
+    pose = estimator.estimate(results[0])
+    assert est.pose1 == pose
+
+
+def test_pose_rotated_x():
+    """
+    This tag is rotated such that the top is closer to the camera than the bottom. In the camera
+    frame, with +x to the right, this is a rotation about +X by 45 degrees.
+    """
+
+    detector = robotpy_apriltag.AprilTagDetector()
+    assert detector.addFamily("tag16h5")
+
+    img = _load_grayscale_image("tag2_45deg_X.png")
+    results = detector.detect(img)
+
+    assert len(results) == 1
+
+    estimator = robotpy_apriltag.AprilTagPoseEstimator(
+        robotpy_apriltag.AprilTagPoseEstimator.Config(
+            0.2, 500, 500, img.shape[1] / 2.0, img.shape[0] / 2.0
+        )
+    )
+    est = estimator.estimateOrthogonalIteration(results[0], 50)
+    assert pytest.approx(est.pose1.rotation().x, abs=0.1) == math.radians(45)
+    assert pytest.approx(est.pose1.rotation().y, abs=0.1) == math.radians(0)
+    assert pytest.approx(est.pose1.rotation().z, abs=0.1) == math.radians(0)
+
+
+def test_pose_rotated_y():
+    """
+    This tag is rotated such that the right is closer to the camera than the left. In the camera
+    frame, with +y down, this is a rotation of 45 degrees about +y.
+    """
+
+    detector = robotpy_apriltag.AprilTagDetector()
+    assert detector.addFamily("tag16h5")
+
+    img = _load_grayscale_image("tag2_45deg_y.png")
+    results = detector.detect(img)
+
+    assert len(results) == 1
+
+    estimator = robotpy_apriltag.AprilTagPoseEstimator(
+        robotpy_apriltag.AprilTagPoseEstimator.Config(
+            0.2, 500, 500, img.shape[1] / 2.0, img.shape[0] / 2.0
+        )
+    )
+    est = estimator.estimateOrthogonalIteration(results[0], 50)
+    assert pytest.approx(est.pose1.rotation().x, abs=0.1) == math.radians(0)
+    assert pytest.approx(est.pose1.rotation().y, abs=0.1) == math.radians(45)
+    assert pytest.approx(est.pose1.rotation().z, abs=0.1) == math.radians(0)
+
+
+def test_pose_straight_on():
+    """
+    This tag is facing right at the camera -- no rotation should be observed.
+    """
+
+    detector = robotpy_apriltag.AprilTagDetector()
+    assert detector.addFamily("tag16h5")
+
+    img = _load_grayscale_image("tag2_16h5_straight.png")
+    results = detector.detect(img)
+
+    assert len(results) == 1
+
+    estimator = robotpy_apriltag.AprilTagPoseEstimator(
+        robotpy_apriltag.AprilTagPoseEstimator.Config(
+            0.2, 500, 500, img.shape[1] / 2.0, img.shape[0] / 2.0
+        )
+    )
+    est = estimator.estimateOrthogonalIteration(results[0], 50)
+    assert pytest.approx(est.pose1.rotation().x, abs=0.1) == math.radians(0)
+    assert pytest.approx(est.pose1.rotation().y, abs=0.1) == math.radians(0)
+    assert pytest.approx(est.pose1.rotation().z, abs=0.1) == math.radians(0)