#include "apriltag.h"
#include <math.h>
#include <assert.h>
#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include <inttypes.h>
#include <sys/time.h>
#include "common/image_u8.h"
#include "common/image_u8x3.h"
#include "common/zhash.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/floats.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	M_PI 3.141592653589793238462643383279502884196

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_gradient (apriltag_detector_t td, image_u8_t im)

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)

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

void	graymodel_init (struct graymodel *gm)

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

void	graymodel_solve (struct graymodel *gm)

double	optimize_quad_generic (apriltag_family_t family, image_u8_t im, struct quad quad0, float stepsizes, int nstepsizes, double(score)(apriltag_family_t family, image_u8_t im, struct quad quad, void user), void user)

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

struct quad *	quad_copy (struct quad *quad)

float	quad_decode (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)

void	quad_destroy (struct quad *quad)

double	quad_goodness (apriltag_family_t family, image_u8_t im, struct quad *quad)

int	quad_update_homographies (struct quad *quad)

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)

void	quick_decode_init (apriltag_family_t *family, int maxhamming)

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, uint32_t d)

double	score_decodability (apriltag_family_t family, image_u8_t im, struct quad quad, void user)

double	score_goodness (apriltag_family_t family, image_u8_t im, struct quad quad, void user)

Macro Definition Documentation

#define M_PI 3.141592653589793238462643383279502884196

Definition at line 59 of file apriltag.c.

Function Documentation

void apriltag_detection_destroy ( apriltag_detection_t * det )

Definition at line 1071 of file apriltag.c.

void apriltag_detections_destroy ( zarray_t * detections )

Definition at line 1493 of file apriltag.c.

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

Definition at line 330 of file apriltag.c.

void apriltag_detector_clear_families ( apriltag_detector_t * td )

Definition at line 338 of file apriltag.c.

apriltag_detector_t* apriltag_detector_create ( )

Definition at line 348 of file apriltag.c.

void apriltag_detector_destroy ( apriltag_detector_t * td )

Definition at line 382 of file apriltag.c.

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

Definition at line 1094 of file apriltag.c.

void apriltag_detector_remove_family	(	apriltag_detector_t *	td,
		apriltag_family_t *	fam
	)

Definition at line 324 of file apriltag.c.

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

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

Definition at line 1510 of file apriltag_quad_thresh.c.

image_u8_t* apriltag_to_image	(	apriltag_family_t *	fam,
		int	idx
	)

Definition at line 1505 of file apriltag.c.

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

inlinestatic

Definition at line 316 of file apriltag.c.

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

Definition at line 85 of file apriltag.c.

void graymodel_init ( struct graymodel * gm )

Definition at line 80 of file apriltag.c.

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

Definition at line 106 of file apriltag.c.

void graymodel_solve ( struct graymodel * gm )

Definition at line 101 of file apriltag.c.

double optimize_quad_generic	(	apriltag_family_t *	family,
		image_u8_t *	im,
		struct quad *	quad0,
		float *	stepsizes,
		int	nstepsizes,
		double()(apriltag_family_t family, image_u8_t im, struct quad quad, void *user)	score,
		void *	user
	)

Definition at line 741 of file apriltag.c.

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

Definition at line 1080 of file apriltag.c.

struct quad* quad_copy ( struct quad * quad )

Definition at line 161 of file apriltag.c.

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

Definition at line 567 of file apriltag.c.

static void quad_decode_task ( void * _u )

static

Definition at line 958 of file apriltag.c.

void quad_destroy ( struct quad * quad )

Definition at line 151 of file apriltag.c.

double quad_goodness	(	apriltag_family_t *	family,
		image_u8_t *	im,
		struct quad *	quad
	)

Definition at line 456 of file apriltag.c.

int quad_update_homographies ( struct quad * quad )

Definition at line 416 of file apriltag.c.

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

Definition at line 172 of file apriltag.c.

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

static

Definition at line 289 of file apriltag.c.

void quick_decode_init	(	apriltag_family_t *	family,
		int	maxhamming
	)

Definition at line 196 of file apriltag.c.

void quick_decode_uninit ( apriltag_family_t * fam )

Definition at line 185 of file apriltag.c.

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

static

Definition at line 816 of file apriltag.c.

static uint64_t rotate90	(	uint64_t	w,
		uint32_t	d
	)

static

if the bits in w were arranged in a d*d grid and that grid was rotated, what would the new bits in w be? The bits are organized like this (for d = 3):

8 7 6 2 5 8 0 1 2 5 4 3 ==> 1 4 7 ==> 3 4 5 (rotate90 applied twice) 2 1 0 0 3 6 6 7 8

Definition at line 133 of file apriltag.c.

double score_decodability	(	apriltag_family_t *	family,
		image_u8_t *	im,
		struct quad *	quad,
		void *	user
	)

Definition at line 730 of file apriltag.c.

double score_goodness	(	apriltag_family_t *	family,
		image_u8_t *	im,
		struct quad *	quad,
		void *	user
	)

Definition at line 725 of file apriltag.c.

Classes

Macros

Functions

Macro Definition Documentation

Function Documentation