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[apriltag, build] Update native utils, add apriltag impl and JNI (#4733)

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Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
This commit is contained in:
Thad House
2022-11-30 00:16:29 -08:00
committed by GitHub
parent 53875419a1
commit 5e74ff26d8
17 changed files with 794 additions and 36 deletions
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105
apriltag/CMakeLists.txt
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@@ -2,37 +2,114 @@ project(apriltag)
include(CompileWarnings)
include(GenResources)
include(FetchContent)
if (WITH_JAVA)
find_package(Java REQUIRED)
include(UseJava)
FetchContent_Declare(
apriltaglib
GIT_REPOSITORY https://github.com/photonvision/apriltag.git
GIT_TAG 404435205b62c3981569dc837e0051d829181ab3
)
file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
set(CMAKE_JAVA_INCLUDE_PATH apriltag.jar ${JACKSON_JARS})
file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
file(GLOB_RECURSE JAVA_RESOURCES src/main/native/resources/*.json)
add_jar(apriltag_jar SOURCES ${JAVA_SOURCES} RESOURCES NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES} INCLUDE_JARS wpimath_jar OUTPUT_NAME apriltag)
# Don't use apriltag's CMakeLists.txt due to conflicting naming and JNI
FetchContent_GetProperties(apriltaglib)
if(NOT apriltaglib_POPULATED)
FetchContent_Populate(apriltaglib)
endif()
aux_source_directory(${apriltaglib_SOURCE_DIR}/common APRILTAGLIB_COMMON_SRC)
file(GLOB TAG_FILES ${apriltaglib_SOURCE_DIR}/tag*.c)
set(APRILTAGLIB_SRCS ${apriltaglib_SOURCE_DIR}/apriltag.c ${apriltaglib_SOURCE_DIR}/apriltag_pose.c ${apriltaglib_SOURCE_DIR}/apriltag_quad_thresh.c)
file(GLOB apriltag_jni_src src/main/native/cpp/jni/AprilTagJNI.cpp)
if (WITH_JAVA)
find_package(Java REQUIRED)
find_package(JNI REQUIRED)
include(UseJava)
set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
set(CMAKE_JNI_TARGET true)
file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
find_file(OPENCV_JAR_FILE
NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin ${OpenCV_INSTALL_PATH}/share/java
NO_DEFAULT_PATH)
set(CMAKE_JAVA_INCLUDE_PATH apriltag.jar ${EJML_JARS} ${JACKSON_JARS})
file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
file(GLOB_RECURSE JAVA_RESOURCES src/main/native/resources/*.json)
add_jar(apriltag_jar
SOURCES ${JAVA_SOURCES}
RESOURCES NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
INCLUDE_JARS wpimath_jar ${EJML_JARS} wpiutil_jar ${OPENCV_JAR_FILE}
OUTPUT_NAME apriltag
GENERATE_NATIVE_HEADERS apriltag_jni_headers)
get_property(APRILTAG_JAR_FILE TARGET apriltag_jar PROPERTY JAR_FILE)
install(FILES ${APRILTAG_JAR_FILE} DESTINATION "${java_lib_dest}")
set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
add_library(apriltagjni ${apriltag_jni_src})
wpilib_target_warnings(apriltagjni)
target_link_libraries(apriltagjni PUBLIC apriltag)
set_property(TARGET apriltagjni PROPERTY FOLDER "libraries")
target_link_libraries(apriltagjni PRIVATE apriltag_jni_headers)
add_dependencies(apriltagjni apriltag_jar)
if (MSVC)
install(TARGETS apriltagjni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
endif()
install(TARGETS apriltagjni EXPORT apriltagjni DESTINATION "${main_lib_dest}")
endif()
GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/apriltag generated/main/cpp APRILTAG frc apriltag_resources_src)
file(GLOB_RECURSE apriltag_native_src src/main/native/cpp/*.cpp)
file(GLOB apriltag_native_src src/main/native/cpp/*.cpp)
add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src})
add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src} ${APRILTAGLIB_SRCS} ${APRILTAGLIB_COMMON_SRC} ${TAG_FILES})
set_target_properties(apriltag PROPERTIES DEBUG_POSTFIX "d")
set_property(TARGET apriltag PROPERTY FOLDER "libraries")
target_compile_features(apriltag PUBLIC cxx_std_20)
wpilib_target_warnings(apriltag)
# disable warnings that apriltaglib can't handle
if (MSVC)
target_compile_options(apriltag PRIVATE /wd4005 /wd4018 /wd4098 /wd4200 /wd4244 /wd4996)
else()
target_compile_options(apriltag PRIVATE -Wno-newline-eof -Wno-unused-variable -Wno-sign-compare -Wno-pedantic -Wno-shift-negative-value)
endif()
target_link_libraries(apriltag wpimath)
target_include_directories(apriltag PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/apriltag>)
$<BUILD_INTERFACE:${apriltaglib_SOURCE_DIR}>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/apriltag>)
install(TARGETS apriltag EXPORT apriltag DESTINATION "${main_lib_dest}")
install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/apriltag")
if (WITH_JAVA AND MSVC)
install(TARGETS apriltag RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
endif()
if (WITH_FLAT_INSTALL)
set (apriltag_config_dir ${wpilib_dest})
else()
set (apriltag_config_dir share/apriltag)
endif()
configure_file(apriltag-config.cmake.in ${WPILIB_BINARY_DIR}/apriltag-config.cmake )
install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION ${apriltag_config_dir})
install(EXPORT apriltag DESTINATION ${apriltag_config_dir})
if (WITH_TESTS)
wpilib_add_test(apriltag src/test/native/cpp)

7
apriltag/apriltag-config.cmake.in Normal file
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@@ -0,0 +1,7 @@
include(CMakeFindDependencyMacro)
@FILENAME_DEP_REPLACE@
@WPIMATH_DEP_REPLACE@
@WPIUTIL_DEP_REPLACE@
@FILENAME_DEP_REPLACE@
include(${SELF_DIR}/apriltag.cmake)

20
apriltag/build.gradle
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@@ -3,13 +3,14 @@ apply from: "${rootDir}/shared/resources.gradle"
ext {
nativeName = 'apriltag'
devMain = 'edu.wpi.first.apriltag.DevMain'
useJava = true
def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'frc', project)
tasks.withType(CppCompile) {
dependsOn generateTask
}
extraSetup = {
splitSetup = {
it.sources {
resourcesCpp(CppSourceSet) {
source {
@@ -23,7 +24,9 @@ ext {
evaluationDependsOn(':wpimath')
apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
apply from: "${rootDir}/shared/jni/setupBuild.gradle"
apply from: "${rootDir}/shared/apriltaglib.gradle"
apply from: "${rootDir}/shared/opencv.gradle"
dependencies {
implementation project(':wpimath')
@@ -47,12 +50,15 @@ model {
}
it.cppCompiler.define 'WPILIB_EXPORTS'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
if ((it instanceof NativeExecutableBinarySpec || it instanceof GoogleTestTestSuiteBinarySpec) && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
if (it.component.name == "${nativeName}JNI") {
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
} else {
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
}
nativeUtils.useRequiredLibrary(it, 'apriltaglib')
}
}
tasks {

89
apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java Normal file
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@@ -0,0 +1,89 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.apriltag.jni;
import edu.wpi.first.util.RuntimeLoader;
import java.io.IOException;
import java.util.concurrent.atomic.AtomicBoolean;
import org.opencv.core.Mat;
public class AprilTagJNI {
static boolean libraryLoaded = false;
static RuntimeLoader<AprilTagJNI> loader = null;
public static class Helper {
private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
public static boolean getExtractOnStaticLoad() {
return extractOnStaticLoad.get();
}
public static void setExtractOnStaticLoad(boolean load) {
extractOnStaticLoad.set(load);
}
}
static {
if (Helper.getExtractOnStaticLoad()) {
try {
loader =
new RuntimeLoader<>(
"apriltagjni", RuntimeLoader.getDefaultExtractionRoot(), AprilTagJNI.class);
loader.loadLibrary();
} catch (IOException ex) {
ex.printStackTrace();
System.exit(1);
}
libraryLoaded = true;
}
}
// Returns a pointer to a apriltag_detector_t
public static native long aprilTagCreate(
String fam, double decimate, double blur, int threads, boolean debug, boolean refine_edges);
// Destroy and free a previously created detector.
public static native void aprilTagDestroy(long detector);
private static native Object[] aprilTagDetectInternal(
long detector,
long imgAddr,
int rows,
int cols,
boolean doPoseEstimation,
double tagWidth,
double fx,
double fy,
double cx,
double cy,
int nIters);
// Detect targets given a GRAY frame. Returns a pointer toa zarray
public static DetectionResult[] aprilTagDetect(
long detector,
Mat img,
boolean doPoseEstimation,
double tagWidth,
double fx,
double fy,
double cx,
double cy,
int nIters) {
return (DetectionResult[])
aprilTagDetectInternal(
detector,
img.dataAddr(),
img.rows(),
img.cols(),
doPoseEstimation,
tagWidth,
fx,
fy,
cx,
cy,
nIters);
}
}

224
apriltag/src/main/java/edu/wpi/first/apriltag/jni/DetectionResult.java Normal file
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@@ -0,0 +1,224 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.apriltag.jni;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.numbers.N3;
import java.util.Arrays;
import org.ejml.data.DMatrixRMaj;
import org.ejml.dense.row.factory.DecompositionFactory_DDRM;
import org.ejml.simple.SimpleMatrix;
public class DetectionResult {
public int getId() {
return m_id;
}
public int getHamming() {
return m_hamming;
}
public float getDecisionMargin() {
return m_decisionMargin;
}
public void setDecisionMargin(float decisionMargin) {
this.m_decisionMargin = decisionMargin;
}
@SuppressWarnings("PMD.MethodReturnsInternalArray")
public double[] getHomography() {
return m_homography;
}
@SuppressWarnings("PMD.ArrayIsStoredDirectly")
public void setHomography(double[] homography) {
this.m_homography = homography;
}
public double getCenterX() {
return m_centerX;
}
public void setCenterX(double centerX) {
this.m_centerX = centerX;
}
public double getCenterY() {
return m_centerY;
}
public void setCenterY(double centerY) {
this.m_centerY = centerY;
}
@SuppressWarnings("PMD.MethodReturnsInternalArray")
public double[] getCorners() {
return m_corners;
}
@SuppressWarnings("PMD.ArrayIsStoredDirectly")
public void setCorners(double[] corners) {
this.m_corners = corners;
}
public double getError1() {
return m_error1;
}
public double getError2() {
return m_error2;
}
public Transform3d getPoseResult1() {
return m_poseResult1;
}
public Transform3d getPoseResult2() {
return m_poseResult2;
}
private final int m_id;
private final int m_hamming;
private float m_decisionMargin;
private double[] m_homography;
private double m_centerX;
private double m_centerY;
private double[] m_corners;
private final Transform3d m_poseResult1;
private final double m_error1;
private final Transform3d m_poseResult2;
private final double m_error2;
/**
* Constructs a new detection result. Used from JNI.
*
* @param id id
* @param hamming hamming
* @param decisionMargin dm
* @param homography homography
* @param centerX centerX
* @param centerY centerY
* @param corners corners
* @param pose1TransArr pose1TransArr
* @param pose1RotArr pose1RotArr
* @param err1 err1
* @param pose2TransArr pose2TransArr
* @param pose2RotArr pose2RotArr
* @param err2 err2
*/
@SuppressWarnings("PMD.ArrayIsStoredDirectly")
public DetectionResult(
int id,
int hamming,
float decisionMargin,
double[] homography,
double centerX,
double centerY,
double[] corners,
double[] pose1TransArr,
double[] pose1RotArr,
double err1,
double[] pose2TransArr,
double[] pose2RotArr,
double err2) {
this.m_id = id;
this.m_hamming = hamming;
this.m_decisionMargin = decisionMargin;
this.m_homography = homography;
this.m_centerX = centerX;
this.m_centerY = centerY;
this.m_corners = corners;
this.m_error1 = err1;
this.m_poseResult1 =
new Transform3d(
new Translation3d(pose1TransArr[0], pose1TransArr[1], pose1TransArr[2]),
new Rotation3d(
orthogonalizeRotationMatrix(
new MatBuilder<>(Nat.N3(), Nat.N3()).fill(pose1RotArr))));
this.m_error2 = err2;
this.m_poseResult2 =
new Transform3d(
new Translation3d(pose2TransArr[0], pose2TransArr[1], pose2TransArr[2]),
new Rotation3d(
orthogonalizeRotationMatrix(
new MatBuilder<>(Nat.N3(), Nat.N3()).fill(pose2RotArr))));
}
/**
* Get the ratio of pose reprojection errors, called ambiguity. Numbers above 0.2 are likely to be
* ambiguous.
*/
public double getPoseAmbiguity() {
var min = Math.min(m_error1, m_error2);
var max = Math.max(m_error1, m_error2);
if (max > 0) {
return min / max;
} else {
return -1;
}
}
@Override
public String toString() {
return "DetectionResult [centerX="
+ m_centerX
+ ", centerY="
+ m_centerY
+ ", corners="
+ Arrays.toString(m_corners)
+ ", decisionMargin="
+ m_decisionMargin
+ ", error1="
+ m_error1
+ ", error2="
+ m_error2
+ ", hamming="
+ m_hamming
+ ", homography="
+ Arrays.toString(m_homography)
+ ", id="
+ m_id
+ ", poseResult1="
+ m_poseResult1
+ ", poseResult2="
+ m_poseResult2
+ "]";
}
private static Matrix<N3, N3> orthogonalizeRotationMatrix(Matrix<N3, N3> input) {
var a = DecompositionFactory_DDRM.qr(3, 3);
if (!a.decompose(input.getStorage().getDDRM())) {
// best we can do is return the input
return input;
}
// Grab results (thanks for this _great_ api, EJML)
var Q = new DMatrixRMaj(3, 3);
var R = new DMatrixRMaj(3, 3);
a.getQ(Q, false);
a.getR(R, false);
// Fix signs in R if they're < 0 so it's close to an identity matrix
// (our QR decomposition implementation sometimes flips the signs of columns)
for (int colR = 0; colR < 3; ++colR) {
if (R.get(colR, colR) < 0) {
for (int rowQ = 0; rowQ < 3; ++rowQ) {
Q.set(rowQ, colR, -Q.get(rowQ, colR));
}
}
}
return new Matrix<>(new SimpleMatrix(Q));
}
}

320
apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp Normal file
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@@ -0,0 +1,320 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <wpi/jni_util.h>
#include "edu_wpi_first_apriltag_jni_AprilTagJNI.h"
#ifdef _WIN32
#pragma warning(push)
#pragma warning(disable : 4200)
#endif
#if defined(__GNUC__)
#pragma GCC diagnostic ignored "-Wpedantic"
#endif
#include "apriltag.h"
#ifdef _WIN32
#pragma warning(pop)
#endif
#include "tag36h11.h"
#include "tag25h9.h"
#include "tag16h5.h"
#include "tagCircle21h7.h"
#include "tagCircle49h12.h"
#include "tagCustom48h12.h"
#include "tagStandard41h12.h"
#include "tagStandard52h13.h"
#include "apriltag_pose.h"
#include <vector>
#include <algorithm>
#include <cmath>
using namespace wpi::java;
struct DetectorState {
int id;
apriltag_detector_t* td;
apriltag_family_t* tf;
void (*tf_destroy)(apriltag_family_t*);
};
static std::vector<DetectorState> detectors;
extern "C" {
/*
* Class: edu_wpi_first_apriltag_jni_AprilTagJNI
* Method: aprilTagCreate
* Signature: (Ljava/lang/String;DDIZZ)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_apriltag_jni_AprilTagJNI_aprilTagCreate
(JNIEnv* env, jclass cls, jstring jstr, jdouble decimate, jdouble blur,
jint threads, jboolean debug, jboolean refine_edges)
{
// Initialize tag detector with options
apriltag_family_t* tf = nullptr;
// const char *famname = fam;
const char* famname = env->GetStringUTFChars(jstr, nullptr);
void (*tf_destroy_func)(apriltag_family_t*);
if (!strcmp(famname, "tag36h11")) {
tf = tag36h11_create();
tf_destroy_func = tag36h11_destroy;
} else if (!strcmp(famname, "tag25h9")) {
tf = tag25h9_create();
tf_destroy_func = tag25h9_destroy;
} else if (!strcmp(famname, "tag16h5")) {
tf = tag16h5_create();
tf_destroy_func = tag16h5_destroy;
} else if (!strcmp(famname, "tagCircle21h7")) {
tf = tagCircle21h7_create();
tf_destroy_func = tagCircle21h7_destroy;
} else if (!strcmp(famname, "tagCircle49h12")) {
tf = tagCircle49h12_create();
tf_destroy_func = tagCircle49h12_destroy;
} else if (!strcmp(famname, "tagStandard41h12")) {
tf = tagStandard41h12_create();
tf_destroy_func = tagStandard41h12_destroy;
} else if (!strcmp(famname, "tagStandard52h13")) {
tf = tagStandard52h13_create();
tf_destroy_func = tagStandard52h13_destroy;
} else if (!strcmp(famname, "tagCustom48h12")) {
tf = tagCustom48h12_create();
tf_destroy_func = tagCustom48h12_destroy;
} else {
std::printf("Unrecognized tag family name. Use e.g. \"tag36h11\".\n");
env->ReleaseStringUTFChars(jstr, famname);
return 0;
}
apriltag_detector_t* td = apriltag_detector_create();
apriltag_detector_add_family(td, tf);
td->quad_decimate = static_cast<float>(decimate);
td->quad_sigma = static_cast<float>(blur);
td->nthreads = threads;
td->debug = debug;
td->refine_edges = refine_edges;
env->ReleaseStringUTFChars(jstr, famname);
// std::printf("Looking for max\n");
auto max = std::max_element(detectors.begin(), detectors.end(),
[](DetectorState& a, DetectorState& b) {
return a.id < b.id;
}); // detectors.size();
int index = 0;
if (max != detectors.end())
index = max->id + 1;
detectors.push_back({index, td, tf, tf_destroy_func});
std::printf("Created detector at idx %i\n", index);
return (jlong)index;
}
static JClass detectionClass;
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return JNI_ERR;
}
detectionClass = JClass(env, "edu/wpi/first/apriltag/jni/DetectionResult");
if (!detectionClass) {
std::printf("Couldn't find class!");
return JNI_ERR;
}
return JNI_VERSION_1_6;
}
static jobject MakeJObject(JNIEnv* env, const apriltag_detection_t* detect,
apriltag_pose_t& pose1, apriltag_pose_t& pose2,
double error1, double error2) {
// Constructor signature must match Java! I = int, F = float, [D = double
// array
static jmethodID constructor =
env->GetMethodID(detectionClass, "<init>", "(IIF[DDD[D[D[DD[D[DD)V");
if (!constructor) {
return nullptr;
}
if (!detect) {
return nullptr;
}
// We have to copy the homography matrix and coners into jdoubles
jdouble h[9]; // = new jdouble[9]{};
for (int i = 0; i < 9; i++) {
h[i] = detect->H->data[i];
}
jdouble corners[8]; // = new jdouble[8]{};
for (int i = 0; i < 4; i++) {
corners[i * 2] = detect->p[i][0];
corners[i * 2 + 1] = detect->p[i][1];
}
jdoubleArray harr = MakeJDoubleArray(env, {h, 9});
jdoubleArray carr = MakeJDoubleArray(env, {corners, 8});
// The rotation of the target is encoded as a 3 by 3 rotation matrix, we'll
// convert to a row-major array
jdouble pose1RotMat[9] = {0};
jdouble pose2RotMat[9] = {0};
for (int i = 0; i < 9; i++) {
if (pose1.R) {
pose1RotMat[i] = pose1.R->data[i];
}
if (pose2.R) {
pose2RotMat[i] = pose2.R->data[i];
}
}
// And translation a 3x1 vector (todo check axis order)
jdouble pose1Trans[3] = {0};
jdouble pose2Trans[3] = {0};
for (int i = 0; i < 3; i++) {
if (pose1.t) {
pose1Trans[i] = pose1.t->data[i];
}
if (pose2.t) {
pose2Trans[i] = pose2.t->data[i];
}
}
jdoubleArray pose1rotArr = MakeJDoubleArray(env, {pose1RotMat, 9});
jdoubleArray pose2rotArr = MakeJDoubleArray(env, {pose2RotMat, 9});
jdoubleArray pose1transArr = MakeJDoubleArray(env, {pose1Trans, 3});
jdoubleArray pose2transArr = MakeJDoubleArray(env, {pose2Trans, 3});
jdouble err1 = error1;
jdouble err2 = error2;
// Actually call the constructor
auto ret = env->NewObject(
detectionClass, constructor, (jint)detect->id, (jint)detect->hamming,
(jfloat)detect->decision_margin, harr, (jdouble)detect->c[0],
(jdouble)detect->c[1], carr, pose1transArr, pose1rotArr, err1,
pose2transArr, pose2rotArr, err2);
// TODO we don't seem to need this... or at least, it doesnt leak rn
// env->ReleaseDoubleArrayElements(harr, h, 0);
// env->ReleaseDoubleArrayElements(carr, corners, 0);
return ret;
}
/*
* Class: edu_wpi_first_apriltag_jni_AprilTagJNI
* Method: aprilTagDetectInternal
* Signature: (JJIIZDDDDDI)[Ljava/lang/Object;
*/
JNIEXPORT jobjectArray JNICALL
Java_edu_wpi_first_apriltag_jni_AprilTagJNI_aprilTagDetectInternal
(JNIEnv* env, jclass cls, jlong detectIdx, jlong pData, jint rows, jint cols,
jboolean doPoseEstimation, jdouble tagWidthMeters, jdouble fx, jdouble fy,
jdouble cx, jdouble cy, jint nIters)
{
// No image, can't do anything
if (!pData) {
return nullptr;
}
// Make an image_u8_t header for the Mat data
image_u8_t im = {static_cast<int32_t>(cols), static_cast<int32_t>(rows),
static_cast<int32_t>(cols),
reinterpret_cast<uint8_t*>(pData)};
// Get our detector
auto state =
std::find_if(detectors.begin(), detectors.end(),
[&](DetectorState& s) { return s.id == detectIdx; });
if (state == detectors.end()) {
return nullptr;
}
// And run the detector on our new image
zarray_t* detections = apriltag_detector_detect(state->td, &im);
int size = zarray_size(detections);
// Object array to return to Java
jobjectArray jarr = env->NewObjectArray(size, detectionClass, nullptr);
if (!jarr) {
std::printf("Couldn't make array\n");
return nullptr;
}
// Global pose
apriltag_pose_t pose1;
std::memset(&pose1, 0, sizeof(pose1));
apriltag_pose_t pose2;
std::memset(&pose2, 0, sizeof(pose2));
// std::printf("Created array %llu! Got %i targets!\n", &jarr, size);
// Add our detected targets to the array
for (int i = 0; i < size; ++i) {
apriltag_detection_t* det = nullptr;
zarray_get(detections, i, &det);
if (det != nullptr) {
double err1 =
HUGE_VAL; // Should get overwritten if pose estimation is happening
double err2 = HUGE_VAL;
if (doPoseEstimation) {
// Feed results to the pose estimator
apriltag_detection_info_t info{det, tagWidthMeters, fx, fy, cx, cy};
estimate_tag_pose_orthogonal_iteration(&info, &err1, &pose1, &err2,
&pose2, nIters);
}
jobject obj = MakeJObject(env, det, pose1, pose2, err1, err2);
env->SetObjectArrayElement(jarr, i, obj);
}
}
// Now that stuff's in our Java-side array, we can clean up native memory
apriltag_detections_destroy(detections);
return jarr;
}
/*
* Class: edu_wpi_first_apriltag_jni_AprilTagJNI
* Method: aprilTagDestroy
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_apriltag_jni_AprilTagJNI_aprilTagDestroy
(JNIEnv* env, jclass clazz, jlong detectIdx)
{
auto state =
std::find_if(detectors.begin(), detectors.end(),
[&](DetectorState& s) { return s.id == detectIdx; });
if (state == detectors.end()) {
return;
}
if (state->td) {
apriltag_detector_destroy(state->td);
state->td = nullptr;
}
if (state->tf) {
state->tf_destroy(state->tf);
state->tf = nullptr;
}
detectors.erase(detectors.begin() + detectIdx);
}
} // extern "C"

2
buildSrc/build.gradle
View File

@@ -9,5 +9,5 @@ repositories {
}
}
dependencies {
implementation "edu.wpi.first:native-utils:2023.8.2"
implementation "edu.wpi.first:native-utils:2023.9.0"
}

4
cscore/build.gradle
View File

@@ -181,6 +181,8 @@ nativeUtils.exportsConfigs {
}
}
apply from: "${rootDir}/shared/imgui.gradle"
model {
components {
examplesMap.each { key, value ->
@@ -193,7 +195,7 @@ model {
lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib library: 'cscore', linkage: 'shared'
nativeUtils.useRequiredLibrary(it, 'imgui_static')
nativeUtils.useRequiredLibrary(it, 'imgui')
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.buildable = false
return

3
datalogtool/build.gradle
View File

@@ -25,6 +25,7 @@ if (!project.hasProperty('onlylinuxathena')) {
def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")
apply from: "${rootDir}/shared/libssh.gradle"
apply from: "${rootDir}/shared/imgui.gradle"
task generateCppVersion() {
description = 'Generates the wpilib version class'
@@ -103,7 +104,7 @@ if (!project.hasProperty('onlylinuxathena')) {
lib project: ':glass', library: 'glass', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'imgui_static', 'libssh')
nativeUtils.useRequiredLibrary(it, 'imgui', 'libssh')
if (it.targetPlatform.operatingSystem.isWindows()) {
it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
it.linker.args << 'ws2_32.lib' << 'advapi32.lib' << 'crypt32.lib' << 'user32.lib'

8
glass/build.gradle
View File

@@ -24,6 +24,8 @@ if (!project.hasProperty('onlylinuxathena')) {
def wpilibVersionFileInput = file("src/app/generate/WPILibVersion.cpp.in")
def wpilibVersionFileOutput = file("$buildDir/generated/app/cpp/WPILibVersion.cpp")
apply from: "${rootDir}/shared/imgui.gradle"
task generateCppVersion() {
description = 'Generates the wpilib version class'
group = 'WPILib'
@@ -111,7 +113,7 @@ if (!project.hasProperty('onlylinuxathena')) {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'imgui_static')
nativeUtils.useRequiredLibrary(it, 'imgui')
}
appendDebugPathToBinaries(binaries)
}
@@ -142,7 +144,7 @@ if (!project.hasProperty('onlylinuxathena')) {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'imgui_static')
nativeUtils.useRequiredLibrary(it, 'imgui')
}
appendDebugPathToBinaries(binaries)
}
@@ -182,7 +184,7 @@ if (!project.hasProperty('onlylinuxathena')) {
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'opencv_static')
nativeUtils.useRequiredLibrary(it, 'imgui_static')
nativeUtils.useRequiredLibrary(it, 'imgui')
if (it.targetPlatform.operatingSystem.isWindows()) {
it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
it.linker.args << '/DELAYLOAD:MF.dll' << '/DELAYLOAD:MFReadWrite.dll' << '/DELAYLOAD:MFPlat.dll' << '/delay:nobind'

4
outlineviewer/build.gradle
View File

@@ -24,6 +24,8 @@ if (!project.hasProperty('onlylinuxathena')) {
def wpilibVersionFileInput = file("src/main/generate/WPILibVersion.cpp.in")
def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")
apply from: "${rootDir}/shared/imgui.gradle"
task generateCppVersion() {
description = 'Generates the wpilib version class'
group = 'WPILib'
@@ -103,7 +105,7 @@ if (!project.hasProperty('onlylinuxathena')) {
lib project: ':wpinet', library: 'wpinet', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'imgui_static')
nativeUtils.useRequiredLibrary(it, 'imgui')
if (it.targetPlatform.operatingSystem.isWindows()) {
it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
} else if (it.targetPlatform.operatingSystem.isMacOsX()) {

3
roborioteamnumbersetter/build.gradle
View File

@@ -25,6 +25,7 @@ if (!project.hasProperty('onlylinuxathena')) {
def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")
apply from: "${rootDir}/shared/libssh.gradle"
apply from: "${rootDir}/shared/imgui.gradle"
task generateCppVersion() {
description = 'Generates the wpilib version class'
@@ -104,7 +105,7 @@ if (!project.hasProperty('onlylinuxathena')) {
lib project: ':wpinet', library: 'wpinet', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'imgui_static', 'libssh')
nativeUtils.useRequiredLibrary(it, 'imgui', 'libssh')
if (it.targetPlatform.operatingSystem.isWindows()) {
it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
it.linker.args << 'ws2_32.lib' << 'advapi32.lib' << 'crypt32.lib' << 'user32.lib'

13
shared/apriltaglib.gradle Normal file
View File

@@ -0,0 +1,13 @@
nativeUtils {
nativeDependencyContainer {
apriltaglib(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
groupId = "edu.wpi.first.thirdparty.frc2023"
artifactId = "apriltaglib"
headerClassifier = "headers"
sourceClassifier = "sources"
ext = "zip"
version = '3.2.0-1'
targetPlatforms.addAll(nativeUtils.wpi.platforms.allPlatforms)
}
}
}

5
shared/config.gradle
View File

@@ -13,12 +13,9 @@ nativeUtils.withCrossLinuxArm64()
nativeUtils {
wpi {
configureDependencies {
wpiVersion = "-1"
niLibVersion = "2023.1.0"
opencvVersion = "4.6.0-3"
googleTestVersion = "1.11.0-4"
imguiVersion = "1.88-12"
wpimathVersion = "-1"
}
}
}
@@ -37,7 +34,7 @@ nativeUtils.platformConfigs.each {
if (it.name.contains('osx')) {
it.linker.args << '-Wl,-rpath,\'@loader_path\''
it.linker.args << "-headerpad_max_install_names"
} else {
} else if (it.name.contains('linux')) {
it.linker.args << '-Wl,-rpath,\'$ORIGIN\''
}
}

13
shared/imgui.gradle Normal file
View File

@@ -0,0 +1,13 @@
nativeUtils {
nativeDependencyContainer {
imgui(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
groupId = "edu.wpi.first.thirdparty.frc2023"
artifactId = "imgui"
headerClassifier = "headers"
sourceClassifier = "sources"
ext = "zip"
version = '1.88-12'
targetPlatforms.addAll(nativeUtils.wpi.platforms.allPlatforms)
}
}
}

5
simulation/halsim_gui/build.gradle
View File

@@ -18,6 +18,9 @@ if (!project.hasProperty('onlylinuxathena')) {
apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
apply from: "${rootDir}/shared/imgui.gradle"
model {
binaries {
all {
@@ -28,7 +31,7 @@ if (!project.hasProperty('onlylinuxathena')) {
project(':ntcore').addNtcoreDependency(it, 'shared')
lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
nativeUtils.useRequiredLibrary(it, 'imgui_static')
nativeUtils.useRequiredLibrary(it, 'imgui')
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.buildable = false
return

5
wpigui/build.gradle
View File

@@ -14,6 +14,7 @@ if (!project.hasProperty('onlylinuxathena')) {
}
apply from: "${rootDir}/shared/config.gradle"
apply from: "${rootDir}/shared/imgui.gradle"
nativeUtils.exportsConfigs {
wpigui {
@@ -48,7 +49,7 @@ if (!project.hasProperty('onlylinuxathena')) {
}
}
binaries.all {
nativeUtils.useRequiredLibrary(it, 'imgui_static')
nativeUtils.useRequiredLibrary(it, 'imgui')
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.buildable = false
return
@@ -114,7 +115,7 @@ if (!project.hasProperty('onlylinuxathena')) {
}
binaries.all {
lib library: 'wpigui'
nativeUtils.useRequiredLibrary(it, 'imgui_static')
nativeUtils.useRequiredLibrary(it, 'imgui')
}
}
}