add python wrap for estimate_tag_pose

[chibai]

#415

Told you I'm going to try this
Please review

[christian-rauch]

Thanks. Can you show a side-by-side comparison of an C++ example and the equivalent Python example for detecting a tag and estimating its pose with the new wrapper?

[chibai]

Thanks. Can you show a side-by-side comparison of an C++ example and the equivalent Python example for detecting a tag and estimating its pose with the new wrapper?

I add test_tag_pose_erstimation case

For c interface

mkdir -p build
cd build
cmake -DBUILD_TESTING=ON ..
make -j12 
ctest -V 

For py interface

cd test
python3 test_tag_pose_estimation.py data/33369213973_9d9bb4cc96_c.jpg data/33369213973_9d9bb4cc96_c.txt
python3 test_tag_pose_estimation.py data/34085369442_304b6bafd9_c.jpg data/34085369442_304b6bafd9_c.txt
python3 test_tag_pose_estimation.py data/34139872896_defdb2f8d9_c.jpg data/34139872896_defdb2f8d9_c.txt

[chibai]

For case 33369213973_9d9bb4cc96_c
c interface log

4: Test command: /home/chibai/Documents/apriltag/build/test/test_tag_pose_estimation "data/33369213973_9d9bb4cc96_c.jpg" "data/33369213973_9d9bb4cc96_c.txt"
4: Working Directory: /home/chibai/Documents/apriltag/test
4: Test timeout computed to be: 10000000
4: Testing tag pose estimation with image: data/33369213973_9d9bb4cc96_c.jpg
4: Expected data file: data/33369213973_9d9bb4cc96_c.txt
4: pjepg: Unknown marker ed at offset 00d4
4: pjepg: Unknown marker ee at offset 044e
4: Found 12 detections in image
4: Processing detection 0: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [0.710686, 0.599256, 3.266221]
4:     Rotation matrix:
4:       [-0.207956, -0.029180, 0.977703]
4:       [-0.022419, -0.999150, -0.034588]
4:       [0.977881, -0.029112, 0.207125]
4:     Reprojection error: 0.000016
4: Processing detection 1: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [0.201183, 0.468489, 3.328680]
4:     Rotation matrix:
4:       [-0.945215, -0.025393, -0.325459]
4:       [0.059868, -0.993545, -0.096354]
4:       [-0.320911, -0.110560, 0.940634]
4:     Reprojection error: 0.000008
4: Processing detection 2: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [0.405928, 0.507896, 3.313878]
4:     Rotation matrix:
4:       [-0.002863, -0.560277, -0.828301]
4:       [0.939356, -0.285559, 0.189910]
4:       [-0.342931, -0.777526, 0.527117]
4:     Reprojection error: 0.000009
4: Processing detection 3: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [0.825321, 0.581845, 3.123319]
4:     Rotation matrix:
4:       [-0.968081, -0.035874, -0.248056]
4:       [0.055725, -0.995739, -0.073471]
4:       [-0.244364, -0.084949, 0.965956]
4:     Reprojection error: 0.000002
4: Processing detection 4: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [1.684277, 0.874643, 2.936456]
4:     Rotation matrix:
4:       [-0.591858, 0.234414, 0.771203]
4:       [0.213342, -0.877098, 0.430330]
4:       [0.777296, 0.419224, 0.469107]
4:     Reprojection error: 0.000004
4: Processing detection 5: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [1.291416, 0.896268, 3.029800]
4:     Rotation matrix:
4:       [-0.113611, -0.982020, -0.150762]
4:       [0.944908, -0.153688, 0.289015]
4:       [-0.306989, -0.109621, 0.945379]
4:     Reprojection error: 0.000018
4: Processing detection 6: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [0.056100, 0.471899, 3.389936]
4:     Rotation matrix:
4:       [-0.414027, -0.017697, -0.910093]
4:       [-0.301250, -0.940807, 0.155341]
4:       [-0.858970, 0.338481, 0.384188]
4:     Reprojection error: 0.000018
4: Processing detection 7: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [-0.320347, 0.515690, 3.311711]
4:     Rotation matrix:
4:       [-0.873806, -0.037693, 0.484811]
4:       [-0.012344, -0.994951, -0.099604]
4:       [0.486118, -0.093019, 0.868929]
4:     Reprojection error: 0.000001
4: Processing detection 8: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [1.239740, 0.641412, 3.141994]
4:     Rotation matrix:
4:       [0.044581, -0.998907, -0.014080]
4:       [0.999000, 0.044528, 0.004058]
4:       [-0.003427, -0.014247, 0.999893]
4:     Reprojection error: 0.000029
4: Processing detection 9: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [0.537262, 0.495875, 3.234766]
4:     Rotation matrix:
4:       [-0.018687, 0.932853, -0.359773]
4:       [-0.996540, -0.046523, -0.068868]
4:       [-0.080981, 0.357241, 0.930495]
4:     Reprojection error: 0.000001
4: Processing detection 10: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [-0.790749, 0.445185, 3.526140]
4:     Rotation matrix:
4:       [-0.953131, -0.094452, -0.287438]
4:       [0.044792, -0.983605, 0.174685]
4:       [-0.299225, 0.153623, 0.941735]
4:     Reprojection error: 0.000003
4: Processing detection 11: tag ID 0
4:   Estimated pose for tag 0:
4:     Translation: [0.330360, 0.425262, 3.426656]
4:     Rotation matrix:
4:       [0.008245, -0.429718, -0.902926]
4:       [0.945234, -0.291286, 0.147259]
4:       [-0.326290, -0.854690, 0.403782]
4:     Reprojection error: 0.000003
4: 
4: Pose estimation test results:
4:   Successful pose estimations: 12/12
4:   All pose estimations successful!
4/6 Test #4: test_tag_pose_estimation_33369213973_9d9bb4cc96_c ...   Passed    0.04 sec

py interface log

Testing tag pose estimation with image: data/33369213973_9d9bb4cc96_c.jpg
Expected data file: data/33369213973_9d9bb4cc96_c.txt
Found 12 detections in image
Processing detection 0: tag ID 0
  Estimated pose for tag 0:
    Translation: [0.710680, 0.599250, 3.266195]
    Rotation matrix:
      [-0.207949, -0.029178, 0.977704]
      [-0.022431, -0.999150, -0.034589]
      [0.977883, -0.029123, 0.207117]
    Reprojection error: 0.000016
Processing detection 1: tag ID 0
  Estimated pose for tag 0:
    Translation: [0.201181, 0.468485, 3.328650]
    Rotation matrix:
      [-0.945208, -0.025381, -0.325482]
      [0.059872, -0.993541, -0.096394]
      [-0.320933, -0.110599, 0.940622]
    Reprojection error: 0.000008
Processing detection 2: tag ID 0
  Estimated pose for tag 0:
    Translation: [0.405931, 0.507899, 3.313901]
    Rotation matrix:
      [-0.002869, -0.560281, -0.828298]
      [0.939359, -0.285555, 0.189903]
      [-0.342924, -0.777524, 0.527124]
    Reprojection error: 0.000009
Processing detection 3: tag ID 0
  Estimated pose for tag 0:
    Translation: [0.825331, 0.581851, 3.123357]
    Rotation matrix:
      [-0.968087, -0.035868, -0.248036]
      [0.055715, -0.995740, -0.073463]
      [-0.244344, -0.084938, 0.965961]
    Reprojection error: 0.000002
Processing detection 4: tag ID 0
  Estimated pose for tag 0:
    Translation: [1.684279, 0.874643, 2.936459]
    Rotation matrix:
      [-0.591862, 0.234414, 0.771200]
      [0.213337, -0.877099, 0.430330]
      [0.777295, 0.419222, 0.469112]
    Reprojection error: 0.000004
Processing detection 5: tag ID 0
  Estimated pose for tag 0:
    Translation: [0.056100, 0.471898, 3.389929]
    Rotation matrix:
      [-0.414023, -0.017701, -0.910094]
      [-0.301244, -0.940809, 0.155342]
      [-0.858974, 0.338476, 0.384184]
    Reprojection error: 0.000018
Processing detection 6: tag ID 0
  Estimated pose for tag 0:
    Translation: [1.291420, 0.896272, 3.029811]
    Rotation matrix:
      [-0.113621, -0.982021, -0.150746]
      [0.944903, -0.153694, 0.289026]
      [-0.306999, -0.109601, 0.945378]
    Reprojection error: 0.000018
Processing detection 7: tag ID 0
  Estimated pose for tag 0:
    Translation: [-0.320347, 0.515691, 3.311718]
    Rotation matrix:
      [-0.873807, -0.037689, 0.484810]
      [-0.012350, -0.994950, -0.099607]
      [0.486116, -0.093025, 0.868929]
    Reprojection error: 0.000001
Processing detection 8: tag ID 0
  Estimated pose for tag 0:
    Translation: [0.537261, 0.495874, 3.234762]
    Rotation matrix:
      [-0.018686, 0.932851, -0.359776]
      [-0.996541, -0.046522, -0.068867]
      [-0.080980, 0.357245, 0.930494]
    Reprojection error: 0.000001
Processing detection 9: tag ID 0
  Estimated pose for tag 0:
    Translation: [1.239855, 0.641470, 3.142284]
    Rotation matrix:
      [0.044544, -0.998912, -0.013775]
      [0.999000, 0.044488, 0.004365]
      [-0.003747, -0.013956, 0.999896]
    Reprojection error: 0.000029
Processing detection 10: tag ID 0
  Estimated pose for tag 0:
    Translation: [-0.790749, 0.445186, 3.526144]
    Rotation matrix:
      [-0.953086, -0.094397, -0.287603]
      [0.044778, -0.983645, 0.174462]
      [-0.299368, 0.153399, 0.941726]
    Reprojection error: 0.000003
Processing detection 11: tag ID 0
  Estimated pose for tag 0:
    Translation: [0.330364, 0.425268, 3.426708]
    Rotation matrix:
      [0.008234, -0.429721, -0.902924]
      [0.945238, -0.291281, 0.147247]
      [-0.326279, -0.854690, 0.403790]
    Reprojection error: 0.000003

Pose estimation test results:
  Successful pose estimations: 12/12
  All pose estimations successful!

[christian-rauch]

Most of your files are missing a new line at the end (see the red symbol in the change overview). Can you add these?

[chibai]

Most of your files are missing a new line at the end (see the red symbol in the change overview). Can you add these?

Sure

/usr/bin/clang  -I/__w/apriltag/apriltag -I/apriltag -O3 -DNDEBUG -Wall -Wextra -Wpedantic -Wno-gnu-zero-variadic-macro-arguments -Wno-strict-prototypes -Wno-static-in-inline -Wno-shift-negative-value -Werror -MD -MT test/CMakeFiles/test_tag_pose_estimation.dir/test_tag_pose_estimation.c.o -MF test/CMakeFiles/test_tag_pose_estimation.dir/test_tag_pose_estimation.c.o.d -o test/CMakeFiles/test_tag_pose_estimation.dir/test_tag_pose_estimation.c.o -c /__w/apriltag/apriltag/test/test_tag_pose_estimation.c
/__w/apriltag/apriltag/test/test_tag_pose_estimation.c:209:2: error: no newline at end of file [-Werror,-Wnewline-eof]
}
 ^

I never used clang as compiler, this is a new knowledge for me

[chibai]

I checked "Allowing edits by maintainers"

If I make format or other minor problem again, please help me update

[christian-rauch]

I never used clang as compiler, this is a new knowledge for me

This is just the style check and independent of the compiler.

[christian-rauch]

I checked "Allowing edits by maintainers"

If I make format or other minor problem again, please help me update

I managed to squash your EOL fixup commits and push to your PR branch.

[christian-rauch]

Thanks.