apriltag_pywrap.c File Reference

#include <stdbool.h>
#include <Python.h>
#include <structmember.h>
#include <numpy/arrayobject.h>
#include <signal.h>
#include "apriltag.h"
#include "tag36h10.h"
#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_detect_docstring.h"
#include "apriltag_py_type_docstring.h"

Include dependency graph for apriltag_pywrap.c:

Go to the source code of this file.

Classes
struct	apriltag_py_t

Macros
#define	FAMILY_STRING(name)   " " #name "\n"
#define	NPY_NO_DEPRECATED_API   NPY_API_VERSION
#define	PYMETHODDEF_ENTRY(function_prefix, name, args)
#define	RESET_SIGINT()
#define	SET_SIGINT()
#define	SUPPORTED_TAG_FAMILIES(_)
#define	TAG_CREATE_FAMILY(name)   else if (0 == strcmp(family, #name)) self->tf = name ## _create();
#define	TAG_SET_DESTROY_FUNC(name)   else if (0 == strcmp(family, #name)) self->destroy_func = name ## _destroy;

Functions
static void	apriltag_dealloc (apriltag_py_t *self)
static PyObject *	apriltag_detect (apriltag_py_t *self, PyObject *args)
static PyObject *	apriltag_new (PyTypeObject *type, PyObject *args, PyObject *kwargs)
PyMODINIT_FUNC	PyInit_apriltag (void)

Variables
static PyMethodDef	apriltag_methods []
static PyTypeObject	apriltagType
static PyMethodDef	methods []
static struct PyModuleDef	module_def

Macro Definition Documentation

FAMILY_STRING

#define FAMILY_STRING

(

name

)

" " #name "\n"

Definition at line 36 of file apriltag_pywrap.c.

NPY_NO_DEPRECATED_API

#define NPY_NO_DEPRECATED_API   NPY_API_VERSION

Definition at line 1 of file apriltag_pywrap.c.

PYMETHODDEF_ENTRY

#define PYMETHODDEF_ENTRY	(		function_prefix,
			name,
			args
	)

Value:

                                                        {#name,          \
                                                        (PyCFunction)function_prefix ## name, \
                                                        args,           \
                                                        function_prefix ## name ## _docstring}

Definition at line 61 of file apriltag_pywrap.c.

RESET_SIGINT

#define RESET_SIGINT

(

)

Value:

    do {                                             \
    if( 0 != sigaction(SIGINT,                                          \
                       &sigaction_old, NULL ))                          \
        PyErr_SetString(PyExc_RuntimeError, "sigaction-restore failed"); \
} while(0)

Definition at line 55 of file apriltag_pywrap.c.

SET_SIGINT

#define SET_SIGINT

(

)

Value:

struct sigaction sigaction_old;                    \
do {                                                                    \
    if( 0 != sigaction(SIGINT,                                          \
                       &(struct sigaction){ .sa_handler = SIG_DFL },    \
                       &sigaction_old) )                                \
    {                                                                   \
        PyErr_SetString(PyExc_RuntimeError, "sigaction() failed");      \
        goto done;                                                      \
    }                                                                   \
} while(0)

Definition at line 45 of file apriltag_pywrap.c.

SUPPORTED_TAG_FAMILIES

#define SUPPORTED_TAG_FAMILIES

(

_

)

Value:

    _(tag36h10)                             \
    _(tag36h11)                             \
    _(tag25h9)                              \
    _(tag16h5)                              \
    _(tagCircle21h7)                        \
    _(tagCircle49h12)                       \
    _(tagStandard41h12)                     \
    _(tagStandard52h13)                     \
    _(tagCustom48h12)

Definition at line 21 of file apriltag_pywrap.c.

TAG_CREATE_FAMILY

#define TAG_CREATE_FAMILY

(

name

)

else if (0 == strcmp(family, #name)) self->tf = name ## _create();

Definition at line 32 of file apriltag_pywrap.c.

TAG_SET_DESTROY_FUNC

#define TAG_SET_DESTROY_FUNC

(

name

)

else if (0 == strcmp(family, #name)) self->destroy_func = name ## _destroy;

Definition at line 34 of file apriltag_pywrap.c.

Function Documentation

apriltag_dealloc()

static void apriltag_dealloc ( apriltag_py_t *  self )

static

Definition at line 184 of file apriltag_pywrap.c.

apriltag_detect()

static PyObject* apriltag_detect ( apriltag_py_t *  self, PyObject *  args  )

static

Definition at line 202 of file apriltag_pywrap.c.

apriltag_new()

static PyObject* apriltag_new ( PyTypeObject *  type, PyObject *  args, PyObject *  kwargs  )

static

Definition at line 76 of file apriltag_pywrap.c.

PyInit_apriltag()

PyMODINIT_FUNC PyInit_apriltag

(

void

)

Definition at line 372 of file apriltag_pywrap.c.

Variable Documentation

apriltag_methods

PyMethodDef apriltag_methods[]

static

Initial value:

=
    { PYMETHODDEF_ENTRY(apriltag_, detect, METH_VARARGS),
      {NULL, NULL, 0, NULL}
    }

Definition at line 319 of file apriltag_pywrap.c.

apriltagType

PyTypeObject apriltagType

static

Initial value:

=
{
     PyVarObject_HEAD_INIT(NULL, 0)
    .tp_name      = "apriltag",
    .tp_basicsize = sizeof(apriltag_py_t),
    .tp_new       = apriltag_new,
    .tp_dealloc   = (destructor)apriltag_dealloc,
    .tp_methods   = apriltag_methods,
    .tp_flags     = Py_TPFLAGS_DEFAULT,
    .tp_doc       = apriltag_py_type_docstring
}

Definition at line 324 of file apriltag_pywrap.c.

methods

PyMethodDef methods[]

static

Initial value:

=
    { {NULL, NULL, 0, NULL}
    }

Definition at line 336 of file apriltag_pywrap.c.

module_def

struct PyModuleDef module_def

static

Initial value:

=
    {
     PyModuleDef_HEAD_INIT,
     "apriltag",
     "AprilTags visual fiducial system detector",
     -1,
     methods,
    0,
    0,
    0,
    0
    }

Definition at line 359 of file apriltag_pywrap.c.