#include "apriltag.h"
#include <math.h>
#include <assert.h>
#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include <errno.h>
#include "common/image_u8.h"
#include "common/image_u8x3.h"
#include "common/zarray.h"
#include "common/matd.h"
#include "common/homography.h"
#include "common/timeprofile.h"
#include "common/math_util.h"
#include "common/g2d.h"
#include "common/debug_print.h"
#include "apriltag_math.h"
#include "common/postscript_utils.h"

Include dependency graph for apriltag.c:

Classes
struct	evaluate_quad_ret

struct	graymodel

struct	quad_decode_task

struct	quick_decode

struct	quick_decode_entry

Macros
#define	APRILTAG_U64_ONE ((uint64_t) 1)

Functions
void	apriltag_detection_destroy (apriltag_detection_t *det)

void	apriltag_detections_destroy (zarray_t *detections)

void	apriltag_detector_add_family_bits (apriltag_detector_t td, apriltag_family_t fam, int bits_corrected)

void	apriltag_detector_clear_families (apriltag_detector_t *td)

apriltag_detector_t *	apriltag_detector_create ()

void	apriltag_detector_destroy (apriltag_detector_t *td)

zarray_t *	apriltag_detector_detect (apriltag_detector_t td, image_u8_t im_orig)

void	apriltag_detector_remove_family (apriltag_detector_t td, apriltag_family_t fam)

zarray_t *	apriltag_quad_thresh (apriltag_detector_t td, image_u8_t im)

image_u8_t *	apriltag_to_image (apriltag_family_t *fam, int idx)

static int	detection_compare_function (const void _a, const void _b)

static void	graymodel_add (struct graymodel *gm, double x, double y, double gray)

static void	graymodel_init (struct graymodel *gm)

static double	graymodel_interpolate (struct graymodel *gm, double x, double y)

static void	graymodel_solve (struct graymodel *gm)

static matd_t *	homography_compute2 (double c[4][4])

static int	prefer_smaller (int pref, double q0, double q1)

static struct quad *	quad_copy (struct quad *quad)

static float	quad_decode (apriltag_detector_t td, apriltag_family_t family, image_u8_t im, struct quad quad, struct quick_decode_entry entry, image_u8_t im_samples)

static void	quad_decode_task (void *_u)

static void	quad_destroy (struct quad *quad)

static int	quad_update_homographies (struct quad *quad)

static void	quick_decode_add (struct quick_decode *qd, uint64_t code, int id, int hamming)

static void	quick_decode_codeword (apriltag_family_t tf, uint64_t rcode, struct quick_decode_entry entry)

static void	quick_decode_init (apriltag_family_t *family, int maxhamming)

static void	quick_decode_uninit (apriltag_family_t *fam)

static void	refine_edges (apriltag_detector_t td, image_u8_t im_orig, struct quad *quad)

static uint64_t	rotate90 (uint64_t w, int numBits)

static void	sharpen (apriltag_detector_t td, double values, int size)

static double	value_for_pixel (image_u8_t *im, double px, double py)

Macro Definition Documentation

◆ APRILTAG_U64_ONE

#define APRILTAG_U64_ONE ((uint64_t) 1)

Definition at line 72 of file apriltag.c.

Function Documentation

◆ apriltag_detection_destroy()

void apriltag_detection_destroy ( apriltag_detection_t * det )

Definition at line 979 of file apriltag.c.

◆ apriltag_detections_destroy()

void apriltag_detections_destroy ( zarray_t * detections )

Definition at line 1415 of file apriltag.c.

◆ apriltag_detector_add_family_bits()

void apriltag_detector_add_family_bits	(	apriltag_detector_t *	td,
		apriltag_family_t *	fam,
		int	bits_corrected
	)

Definition at line 339 of file apriltag.c.

◆ apriltag_detector_clear_families()

void apriltag_detector_clear_families ( apriltag_detector_t * td )

Definition at line 347 of file apriltag.c.

◆ apriltag_detector_create()

apriltag_detector_t* apriltag_detector_create ( )

Definition at line 357 of file apriltag.c.

◆ apriltag_detector_destroy()

void apriltag_detector_destroy ( apriltag_detector_t * td )

Definition at line 391 of file apriltag.c.

◆ apriltag_detector_detect()

zarray_t* apriltag_detector_detect	(	apriltag_detector_t *	td,
		image_u8_t *	im_orig
	)

Definition at line 1002 of file apriltag.c.

◆ apriltag_detector_remove_family()

void apriltag_detector_remove_family	(	apriltag_detector_t *	td,
		apriltag_family_t *	fam
	)

Definition at line 333 of file apriltag.c.

◆ apriltag_quad_thresh()

zarray_t* apriltag_quad_thresh	(	apriltag_detector_t *	td,
		image_u8_t *	im
	)

Definition at line 1770 of file apriltag_quad_thresh.c.

◆ apriltag_to_image()

image_u8_t* apriltag_to_image	(	apriltag_family_t *	fam,
		int	idx
	)

Definition at line 1427 of file apriltag.c.

◆ detection_compare_function()

static int detection_compare_function	(	const void *	_a,
		const void *	_b
	)

inlinestatic

Definition at line 325 of file apriltag.c.

◆ graymodel_add()

static void graymodel_add	(	struct graymodel *	gm,
		double	x,
		double	y,
		double	gray
	)

static

Definition at line 96 of file apriltag.c.

◆ graymodel_init()

static void graymodel_init ( struct graymodel * gm )

static

Definition at line 91 of file apriltag.c.

◆ graymodel_interpolate()

static double graymodel_interpolate	(	struct graymodel *	gm,
		double	x,
		double	y
	)

static

Definition at line 117 of file apriltag.c.

◆ graymodel_solve()

static void graymodel_solve ( struct graymodel * gm )

static

Definition at line 112 of file apriltag.c.

◆ homography_compute2()

static matd_t* homography_compute2 ( double c[4][4] )

static

Definition at line 424 of file apriltag.c.

◆ prefer_smaller()

static int prefer_smaller	(	int	pref,
		double	q0,
		double	q1
	)

static

Definition at line 988 of file apriltag.c.

◆ quad_copy()

static struct quad* quad_copy ( struct quad * quad )

static

Definition at line 163 of file apriltag.c.

◆ quad_decode()

static float quad_decode	(	apriltag_detector_t *	td,
		apriltag_family_t *	family,
		image_u8_t *	im,
		struct quad *	quad,
		struct quick_decode_entry *	entry,
		image_u8_t *	im_samples
	)

static

Definition at line 568 of file apriltag.c.

◆ quad_decode_task()

static void quad_decode_task ( void * _u )

static

Definition at line 891 of file apriltag.c.

◆ quad_destroy()

static void quad_destroy ( struct quad * quad )

static

Definition at line 153 of file apriltag.c.

◆ quad_update_homographies()

static int quad_update_homographies ( struct quad * quad )

static

Definition at line 487 of file apriltag.c.

◆ quick_decode_add()

static void quick_decode_add	(	struct quick_decode *	qd,
		uint64_t	code,
		int	id,
		int	hamming
	)

static

Definition at line 174 of file apriltag.c.

◆ quick_decode_codeword()

static void quick_decode_codeword	(	apriltag_family_t *	tf,
		uint64_t	rcode,
		struct quick_decode_entry *	entry
	)

static

Definition at line 297 of file apriltag.c.

◆ quick_decode_init()

static void quick_decode_init	(	apriltag_family_t *	family,
		int	maxhamming
	)

static

Definition at line 198 of file apriltag.c.

◆ quick_decode_uninit()

static void quick_decode_uninit ( apriltag_family_t * fam )

static

Definition at line 187 of file apriltag.c.

◆ refine_edges()

static void refine_edges	(	apriltag_detector_t *	td,
		image_u8_t *	im_orig,
		struct quad *	quad
	)

static

Definition at line 742 of file apriltag.c.

◆ rotate90()

static uint64_t rotate90	(	uint64_t	w,
		int	numBits
	)

static

Assuming we are drawing the image one quadrant at a time, what would the rotated image look like? Special care is taken to handle the case where there is a middle pixel of the image.

Definition at line 140 of file apriltag.c.

◆ sharpen()

static void sharpen	(	apriltag_detector_t *	td,
		double *	values,
		int	size
	)

static

Definition at line 535 of file apriltag.c.

◆ value_for_pixel()

static double value_for_pixel	(	image_u8_t *	im,
		double	px,
		double	py
	)

static

Definition at line 519 of file apriltag.c.

Classes

Macros

Functions

Macro Definition Documentation

◆ APRILTAG_U64_ONE

Function Documentation

◆ apriltag_detection_destroy()

◆ apriltag_detections_destroy()

◆ apriltag_detector_add_family_bits()

◆ apriltag_detector_clear_families()

◆ apriltag_detector_create()

◆ apriltag_detector_destroy()

◆ apriltag_detector_detect()

◆ apriltag_detector_remove_family()

◆ apriltag_quad_thresh()

◆ apriltag_to_image()

◆ detection_compare_function()

◆ graymodel_add()

◆ graymodel_init()

◆ graymodel_interpolate()

◆ graymodel_solve()

◆ homography_compute2()

◆ prefer_smaller()

◆ quad_copy()

◆ quad_decode()

◆ quad_decode_task()

◆ quad_destroy()

◆ quad_update_homographies()

◆ quick_decode_add()

◆ quick_decode_codeword()

◆ quick_decode_init()

◆ quick_decode_uninit()

◆ refine_edges()

◆ rotate90()

◆ sharpen()

◆ value_for_pixel()