Monorepo Aruco Nano

Author: Gold856

.styleguide

@@ -25,6 +25,7 @@ modifiableFileExclude {
   gradlew
   photon-lib/py/photonlibpy/generated/
   photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/
+  photon-targeting/src/main/native/include/photon/aruco_nano.h
   photon-targeting/src/generated/
 }
 

photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java

@@ -26,6 +26,8 @@
 import org.opencv.core.TermCriteria;
 import org.opencv.imgproc.Imgproc;
 import org.opencv.objdetect.Objdetect;
+import org.photonvision.jni.ArucoNanoV5Detector;
+import org.photonvision.jni.ArucoNanoV5Detector.DetectionResult;
 import org.photonvision.vision.aruco.ArucoDetectionResult;
 import org.photonvision.vision.aruco.PhotonArucoDetector;
 import org.photonvision.vision.opencv.CVMat;
@@ -53,7 +55,7 @@ protected List<ArucoDetectionResult> process(CVMat in) {
             return List.of();
         }
 
-        var detections = photonDetector.detect(imgMat);
+        var detections = detect(imgMat);
         // manually do corner refinement ourselves
         if (params.useCornerRefinement) {
             for (var detection : detections) {
@@ -94,7 +96,7 @@ protected List<ArucoDetectionResult> process(CVMat in) {
                 }
             }
         }
-        return List.of(detections);
+        return detections;
     }
 
     @Override
@@ -134,6 +136,14 @@ private void drawCornerRefineWindow(Mat outputMat, Point corner, int windowSize)
         Imgproc.rectangle(outputMat, pt1, pt2, new Scalar(0, 0, 255), thickness);
     }
 
+    public static List<ArucoDetectionResult> detect(Mat in) {
+        DetectionResult[] ret = ArucoNanoV5Detector.detect(in);
+
+        return List.of(ret).stream()
+                .map(it -> new ArucoDetectionResult(it.xCorners(), it.yCorners(), it.id()))
+                .toList();
+    }
+
     @Override
     public void release() {
         photonDetector.release();

photon-targeting/src/main/java/org/photonvision/jni/ArucoNanoV5Detector.java

@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.jni;
+
+import org.opencv.core.Mat;
+
+public final class ArucoNanoV5Detector {
+    public static record DetectionResult(double[] xCorners, double[] yCorners, int id) {}
+
+    /**
+     * Detects Aruco markers.
+     *
+     * @param matPtr The pointer to the Mat to detect tags from.
+     * @return A double array with the detections. Each detection is encoded as 9 doubles,
+     *     representing the XY corner coordinates for the 4 corners and a tag ID at the end.
+     */
+    private static native double[] detect(long matPtr);
+
+    public static DetectionResult[] detect(Mat mat) {
+        var detectionData = detect(mat.getNativeObjAddr());
+        DetectionResult[] detections = new DetectionResult[(int) (detectionData.length / 9)];
+        for (int i = 0; i < detectionData.length; i += 9) {
+            double[] xCorners = {
+                detectionData[i + 0], detectionData[i + 2], detectionData[i + 4], detectionData[i + 6]
+            };
+            double[] yCorners = {
+                detectionData[i + 1], detectionData[i + 3], detectionData[i + 5], detectionData[i + 7]
+            };
+            detections[(int) (i / 9)] =
+                    new DetectionResult(xCorners, yCorners, (int) detectionData[i + 8]);
+        }
+        return detections;
+    }
+}