Use 3 bits of error correction for AprilTags (update libapriltag)

Makefile

@@ -70,7 +70,7 @@ clean:
 	rm -f folk *.o vendor/tracy/public/TracyClient.o vendor/c11-queues/*.o
 distclean: clean
 	make -C vendor/jimtcl distclean
-	make -C vendor/apriltag clean
+	rm -rf vendor/apriltag/build
 
 remote-clean: sync
 	ssh $(FOLK_REMOTE_NODE) -- 'cd folk; make clean'
@@ -81,15 +81,24 @@ deps:
 		cd vendor/jimtcl && ./configure CFLAGS='-g -fno-omit-frame-pointer'; \
 	fi
 	make -C vendor/jimtcl
-	make -C vendor/apriltag libapriltag.so
+
+	cmake -B vendor/apriltag/build -S vendor/apriltag -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON
+	cmake --build vendor/apriltag/build
+
 	if [ ! -f vendor/wslay/Makefile ]; then \
 		cd vendor/wslay && autoreconf -i && automake && autoconf && ./configure; \
 	fi
 	make -C vendor/wslay
+
 	if [ "$$(uname)" = "Darwin" ]; then \
-		install_name_tool -id @executable_path/vendor/apriltag/libapriltag.so vendor/apriltag/libapriltag.so; \
+		install_name_tool -id @executable_path/vendor/apriltag/build/libapriltag.dylib vendor/apriltag/build/libapriltag.dylib; \
+		cd vendor/apriltag/build && ln -sf libapriltag.dylib libapriltag.so; \
 		install_name_tool -id @executable_path/vendor/wslay/lib/.libs/libwslay.0.dylib vendor/wslay/lib/.libs/libwslay.0.dylib; \
 	fi
+	if [ "$$(uname)" = "Linux" ]; then \
+		patchelf --set-soname "$$(pwd)/vendor/apriltag/build/libapriltag.so.3" vendor/apriltag/build/libapriltag.so.3; \
+		patchelf --set-soname "$$(pwd)/vendor/wslay/lib/.libs/libwslay.so.0" vendor/wslay/lib/.libs/libwslay.so.0 || true; \
+	fi
 
 kill-folk:
 	sudo systemctl stop folk

README.md

@@ -66,7 +66,7 @@ if flashing from a Mac] -- Ubuntu doesn't have a good kernel for Pi 5)
    `folk@folk-WHATEVER.local` by name, `sudo apt install avahi-daemon`
    and then on your laptop: `ssh-copy-id folk@folk-WHATEVER.local`
 
-1. Install dependencies: `sudo apt install rsync git libturbojpeg0-dev libpng-dev libdrm-dev pkg-config v4l-utils vulkan-tools libvulkan-dev libvulkan1 meson libgbm-dev glslc vulkan-validationlayers ghostscript console-data kbd psmisc zlib1g-dev libssl-dev automake libtool autoconf-archive`
+1. Install dependencies: `sudo apt install rsync git cmake patchelf libturbojpeg0-dev libpng-dev libdrm-dev pkg-config v4l-utils vulkan-tools libvulkan-dev libvulkan1 meson libgbm-dev glslc vulkan-validationlayers ghostscript console-data kbd psmisc zlib1g-dev libssl-dev automake libtool autoconf-archive`
 
    (When prompted while installing `console-data` for `Policy for
    handling keymaps` type `3` (meaning `3. Keep kernel keymap`) and

builtin-programs/apriltags.folk

@@ -5,7 +5,7 @@ fn makeAprilTagDetector {TAG_FAMILY QUAD_DECIMATE NTHREADS} {
     $cc extend $imageLib
 
     $cc cflags -I./vendor/apriltag
-    $cc endcflags ./vendor/apriltag/libapriltag.so
+    $cc endcflags ./vendor/apriltag/build/libapriltag.so
     $cc include <apriltag.h>
     $cc include <$TAG_FAMILY.h>
     $cc include <math.h>
@@ -18,7 +18,7 @@ fn makeAprilTagDetector {TAG_FAMILY QUAD_DECIMATE NTHREADS} {
     $cc proc detectInit {} void {
         td = apriltag_detector_create();
         tf = ${TAG_FAMILY}_create();
-        apriltag_detector_add_family_bits(td, tf, 1);
+        apriltag_detector_add_family_bits(td, tf, 3);
         td->quad_decimate = ${QUAD_DECIMATE};
         td->nthreads = ${NTHREADS};
     }

builtin-programs/calibrate/matlib.folk

@@ -245,7 +245,7 @@ $cc proc applyHomography {matd_t* H double[2] xy} Jim_Obj* {
 $cc proc matdMul {matd_t* a matd_t* b} matd_t* {
     return matd_multiply(a, b);
 }
-$cc endcflags ./vendor/apriltag/libapriltag.so
+$cc endcflags ./vendor/apriltag/build/libapriltag.so
 set matLib [$cc compile]
 Claim the calibration matLib is $matLib
 

builtin-programs/calibrate/refine.folk

@@ -61,7 +61,7 @@ set NUM_TAGS_IN_MODEL 20
 
 set cc [C]
 $cc cflags -I./vendor/cmpfit -I./vendor/apriltag -Wall -Werror
-$cc endcflags ./vendor/apriltag/libapriltag.so
+$cc endcflags ./vendor/apriltag/build/libapriltag.so
 
 $cc include <math.h>
 $cc include <string.h>

builtin-programs/print.folk

@@ -23,7 +23,7 @@ When the image library is /imageLib/ &\
 set cc [C]
 $cc extend $imageLib
 $cc cflags -I./vendor/apriltag -Wall -Werror
-$cc endcflags ./vendor/apriltag/libapriltag.so
+$cc endcflags ./vendor/apriltag/build/libapriltag.so
 
 $cc code {
     #include <apriltag.h>

builtin-programs/tags-to-quads.folk

@@ -70,15 +70,18 @@ $cc proc rescaleAndUndistort {Intrinsics intr
     out[1] = y*intr.fy + intr.cy;
 }
 $cc cflags -I./vendor/apriltag
-$cc endcflags ./vendor/apriltag/libapriltag.so
+$cc endcflags ./vendor/apriltag/build/libapriltag.so
 
 $cc include <apriltag_pose.h>
 $cc include <math.h>
 $cc include <common/matd.h>
 $cc include <common/homography.h>
 
 $cc code {
-#define MATD_VAR(name, nr, nc) matd_t* name = alloca(sizeof(matd_t) + ((nr)*(nc)*sizeof(double))); name->nrows = nr; name->ncols = nc;
+    #define MATD_VAR(name, nr, nc) \
+              matd_t* name = alloca(sizeof(matd_t)); \
+              name->data = alloca((nr)*(nc)*sizeof(double)); \
+              name->nrows = nr; name->ncols = nc;
 }
 $cc proc pseudoInverse {matd_t* a} matd_t* {
     matd_svd_t usv = matd_svd(a);

vendor/README.md

@@ -12,3 +12,4 @@ Some of these packages have been modified by us.
 - `vk_mem_alloc` is from <https://github.com/GPUOpen-LibrariesAndSDKs/VulkanMemoryAllocator/blob/e722e57c891a8fbe3cc73ca56c19dd76be242759/include/vk_mem_alloc.h>
 - idiomorph is from
   <https://github.com/bigskysoftware/idiomorph/blob/10224e0841d4b14bead9f6fd9ac2dfa2d030b4c7/dist/idiomorph.js>
+- apriltag is from <https://github.com/AprilRobotics/apriltag/tree/c5a4fc1cc5c6edcb5929dfc3a79f167bf173f7a5>

vendor/apriltag/.github/workflows/bloom.yml

@@ -0,0 +1,53 @@
+name: bloom
+
+on: [push, pull_request]
+
+jobs:
+  build_linux:
+    name: "Ubuntu (${{ matrix.ros_distribution }})"
+
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        include:
+          - docker_image: ubuntu:20.04
+            ros_distribution: noetic
+
+          - docker_image: ubuntu:22.04
+            ros_distribution: humble
+
+          - docker_image: ubuntu:24.04
+            ros_distribution: jazzy
+
+    container:
+      image: ${{ matrix.docker_image }}
+
+    env:
+      DEBIAN_FRONTEND: noninteractive
+
+    steps:
+      - name: install core dependencies
+        run: |
+          apt update
+          apt install -y --no-install-recommends git ca-certificates
+
+      - uses: actions/checkout@v4
+
+      - uses: ros-tooling/setup-ros@v0.7
+
+      - name: install build tool dependencies
+        run: |
+          apt install -y --no-install-recommends devscripts equivs python3-bloom
+
+      - name: bloom
+        run: |
+          rosdep update
+          bloom-generate rosdebian --ros-distro ${{ matrix.ros_distribution }}
+          mk-build-deps
+          apt install -y --no-install-recommends ./ros-${{ matrix.ros_distribution }}-apriltag-build-deps_*_all.deb
+          dpkg-buildpackage -b
+
+      - name: install bloomed packages
+        run: |
+          apt install -y --no-install-recommends ../ros-${{ matrix.ros_distribution }}-apriltag_*.deb ../ros-${{ matrix.ros_distribution }}-apriltag-dbgsym_*.ddeb

vendor/apriltag/.github/workflows/cmake-multi-platform.yml

@@ -1,6 +1,4 @@
-# This starter workflow is for a CMake project running on multiple platforms. There is a different starter workflow if you just want a single platform.
-# See: https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
-name: CMake on multiple platforms
+name: CMake
 
 on:
   push:
@@ -13,19 +11,11 @@ jobs:
     runs-on: ${{ matrix.os }}
 
     strategy:
-      # Set fail-fast to false to ensure that feedback is delivered for all matrix combinations. Consider changing this to true when your workflow is stable.
-      fail-fast: false
-
-      # Set up a matrix to run the following 3 configurations:
-      # 1. <Windows, Release, latest MSVC compiler toolchain on the default runner image, default generator>
-      # 2. <Linux, Release, latest GCC compiler toolchain on the default runner image, default generator>
-      # 3. <Linux, Release, latest Clang compiler toolchain on the default runner image, default generator>
-      #
-      # To add more build types (Release, Debug, RelWithDebInfo, etc.) customize the build_type list.
       matrix:
         os: [ubuntu-latest, windows-latest, macos-latest]
         build_type: [Release]
         c_compiler: [gcc, clang, cl]
+        shared_libs: ['ON', 'OFF']
         include:
           - os: windows-latest
             c_compiler: cl
@@ -45,20 +35,18 @@ jobs:
           - os: macos-latest
             c_compiler: clang
             cpp_compiler: clang++
-          - os: macos-latest
-            c_compiler: gcc
-            cpp_compiler: g++
         exclude:
           - os: ubuntu-latest
             c_compiler: cl
           - os: macos-latest
             c_compiler: cl
+          - os: macos-latest
+            c_compiler: gcc
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
 
     - name: Set reusable strings
-      # Turn repeated input strings (such as the build output directory) into step outputs. These step outputs can be used throughout the workflow file.
       id: strings
       shell: bash
       run: |
@@ -68,23 +56,46 @@ jobs:
 
     - uses: ilammy/msvc-dev-cmd@v1
 
+    - uses: actions/setup-python@v5
+      with:
+        python-version: '3.10'
+
+    - run: pip install numpy
+
     - name: Configure CMake
-      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
-      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
       run: >
         cmake -B ${{ steps.strings.outputs.build-output-dir }}
         -G Ninja
-        -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
-        -DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
-        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -D CMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
+        -D CMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -D CMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -D BUILD_SHARED_LIBS=${{ matrix.shared_libs }}
+        -D BUILD_TESTING=ON
         -S ${{ github.workspace }}
 
     - name: Build
-      # Build your program with the given configuration. Note that --config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
       run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }}
 
+    - name: Install (Windows)
+      if: matrix.os == 'windows-latest'
+      run: Start-Process -Verb RunAs -FilePath cmake "--build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }} --target install"
+
+    - name: Install (sudo)
+      if: matrix.os != 'windows-latest'
+      run: sudo cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }} --target install
+
+    - name: add DLL to test folder
+      if: matrix.os == 'windows-latest'
+      working-directory: ${{ steps.strings.outputs.build-output-dir }}
+      run: |
+        cp *apriltag.dll test/
+
     - name: Test
       working-directory: ${{ steps.strings.outputs.build-output-dir }}
-      # Execute tests defined by the CMake configuration. Note that --build-config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
-      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-      run: ctest --build-config ${{ matrix.build_type }}
+      run: |
+        ctest --build-config ${{ matrix.build_type }} --no-tests=error --output-on-failure --verbose
+
+    - name: Test Python Module Import
+      working-directory: ${{ steps.strings.outputs.build-output-dir }}
+      run: |
+        python3 -c "import apriltag; apriltag.apriltag(family='tag36h11')"

vendor/apriltag/.github/workflows/cmake-ubuntu.yml

@@ -0,0 +1,62 @@
+name: CMake (Ubuntu)
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        version: ["20.04", "22.04", "24.04"]
+        c_compiler: [gcc, clang]
+        shared_libs: ['ON', 'OFF']
+        # manual selection for the latest, non-default, compilers
+        include:
+        - version: "24.04"
+          c_compiler: gcc-14
+        - version: "24.04"
+          c_compiler: clang-18
+
+    container:
+      image: ubuntu:${{ matrix.version }}
+
+    env:
+      DEBIAN_FRONTEND: noninteractive
+
+    steps:
+    - name: install dependencies
+      run: |
+        apt update
+        apt install -y --no-install-recommends cmake ninja-build ${{ matrix.c_compiler }}
+        apt install -y --no-install-recommends python3-dev python3-numpy
+
+    - uses: actions/checkout@v4
+
+    - name: Set reusable strings
+      id: strings
+      shell: bash
+      run: |
+        echo "build-output-dir=$GITHUB_WORKSPACE/build" >> "$GITHUB_OUTPUT"
+
+    - name: Configure CMake
+      run: >
+        cmake -B ${{ steps.strings.outputs.build-output-dir }}
+        -G Ninja
+        -D CMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -D CMAKE_BUILD_TYPE=Release
+        -D BUILD_SHARED_LIBS=${{ matrix.shared_libs }}
+        -D BUILD_TESTING=ON
+        -S $GITHUB_WORKSPACE
+
+    - name: Build & Install
+      run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --target install
+
+    - name: Test
+      working-directory: ${{ steps.strings.outputs.build-output-dir }}
+      run: |
+        ctest --no-tests=error --output-on-failure --verbose