AprilRobotics · j-medland · Nov 4, 2022 · Nov 8, 2022 · christian-rauch · Dec 5, 2022
diff --git a/.github/workflows/ros_workspace.yml b/.github/workflows/ros_workspace.yml
@@ -152,7 +152,7 @@ jobs:
           submodules: recursive
 
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@v0.3
+        uses: ros-tooling/setup-ros@v0.4
 
       - name: ROS 1 CI Action
         if: ${{ matrix.ros_version == 1 }}

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,10 +1,16 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.5)
 project(apriltag VERSION 3.3.0 LANGUAGES C CXX)
 
+if (MSVC)
+    add_compile_definitions("_CRT_SECURE_NO_WARNINGS")
+endif()
+
 if(POLICY CMP0077)
     cmake_policy(SET CMP0077 NEW)
 endif()
+
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
+option(BUILD_EXAMPLES "Build example binaries" ON)
 option(ASAN "Use AddressSanitizer for debug builds to detect memory issues" OFF)
 
 if (ASAN)
@@ -38,150 +44,20 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS  "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 endif()
 
-aux_source_directory(common COMMON_SRC)
-set(APRILTAG_SRCS apriltag.c apriltag_pose.c apriltag_quad_thresh.c)
-
-# Library
-file(GLOB TAG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/tag*.c)
-add_library(${PROJECT_NAME} ${APRILTAG_SRCS} ${COMMON_SRC} ${TAG_FILES})
-
-if (MSVC)
-    add_compile_definitions("_CRT_SECURE_NO_WARNINGS")
-else()
-    find_package(Threads REQUIRED)
-    target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads m)
-endif()
-
-set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION 3 VERSION ${PROJECT_VERSION})
-set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "d")
-
-include(GNUInstallDirs)
-target_include_directories(${PROJECT_NAME} PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/>"
-    "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
-    "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>/apriltag")
-
-
-# install header file hierarchy
-file(GLOB HEADER_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.h common/*.h)
-list(REMOVE_ITEM HEADER_FILES apriltag_detect.docstring.h apriltag_py_type.docstring.h)
-
-foreach(HEADER ${HEADER_FILES})
-    string(REGEX MATCH "(.*)[/\\]" DIR ${HEADER})
-    install(FILES ${HEADER} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}/${DIR})
-endforeach()
-
-# export library
-set(generated_dir "${CMAKE_CURRENT_BINARY_DIR}/generated")
-set(version_config "${generated_dir}/${PROJECT_NAME}ConfigVersion.cmake")
-set(project_config "${generated_dir}/${PROJECT_NAME}Config.cmake")
-set(targets_export_name "${PROJECT_NAME}Targets")
-set(config_install_dir "share/${PROJECT_NAME}/cmake")
-
-# Include module with fuction 'write_basic_package_version_file'
-include(CMakePackageConfigHelpers)
-
-# Configure '<PROJECT-NAME>Config.cmake'
-# Use variables:
-#   * targets_export_name
-#   * PROJECT_NAME
-configure_package_config_file(
-        "CMake/apriltagConfig.cmake.in"
-        "${project_config}"
-        INSTALL_DESTINATION "${config_install_dir}"
-)
+# build main library
+add_subdirectory(libs/apriltag)
 
-# Configure '<PROJECT-NAME>ConfigVersion.cmake'
-# Note: PROJECT_VERSION is used as a VERSION
-write_basic_package_version_file("${version_config}" COMPATIBILITY SameMajorVersion)
-
-
-# install library
-install(TARGETS ${PROJECT_NAME} EXPORT ${targets_export_name}
-        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        )
-
-install(EXPORT ${targets_export_name}
-    NAMESPACE apriltag::
-    DESTINATION ${config_install_dir})
-
-install(FILES ${project_config} ${version_config} DESTINATION ${config_install_dir})
-
-export(TARGETS apriltag
-    NAMESPACE apriltag::
-    FILE ${generated_dir}/${targets_export_name}.cmake)
-
-
-# install pkgconfig file
-configure_file(${PROJECT_NAME}.pc.in ${PROJECT_NAME}.pc @ONLY)
-install(FILES "${CMAKE_BINARY_DIR}/${PROJECT_NAME}.pc"
-        DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
-
-
-# Python wrapper
+## Python wrapper
 include(CMakeDependentOption)
 cmake_dependent_option(BUILD_PYTHON_WRAPPER "Builds Python wrapper" ON BUILD_SHARED_LIBS OFF)
 
 if(BUILD_PYTHON_WRAPPER)
-    SET(Python_ADDITIONAL_VERSIONS 3)
-    find_package(PythonLibs)
-    execute_process(COMMAND which python3 OUTPUT_QUIET RESULT_VARIABLE Python3_NOT_FOUND)
-    execute_process(COMMAND python3 -c "import numpy" RESULT_VARIABLE Numpy_NOT_FOUND)
-endif(BUILD_PYTHON_WRAPPER)
-
-if (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
-    # TODO deal with both python2/3
-    execute_process(COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/python_build_flags.py OUTPUT_VARIABLE PY_OUT)
-    set(PY_VARS CFLAGS LDFLAGS LINKER EXT_SUFFIX)
-    cmake_parse_arguments(PY "" "${PY_VARS}" "" ${PY_OUT})
-    separate_arguments(PY_CFLAGS)
-    list(REMOVE_ITEM PY_CFLAGS -flto)
-    separate_arguments(PY_LDFLAGS)
-
-    foreach(X detect py_type)
-    add_custom_command(OUTPUT ${PROJECT_BINARY_DIR}/apriltag_${X}.docstring.h
-        COMMAND < ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_${X}.docstring sed 's/\"/\\\\\"/g\; s/^/\"/\; s/$$/\\\\n\"/\;' > apriltag_${X}.docstring.h
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR})
-    endforeach()
-
-    add_custom_command(OUTPUT apriltag_pywrap.o
-        COMMAND ${CMAKE_C_COMPILER} ${PY_CFLAGS} -I${PROJECT_BINARY_DIR} -c -o apriltag_pywrap.o ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c
-        DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c ${PROJECT_BINARY_DIR}/apriltag_detect.docstring.h ${PROJECT_BINARY_DIR}/apriltag_py_type.docstring.h)
-    add_custom_command(OUTPUT apriltag${PY_EXT_SUFFIX}
-        COMMAND ${PY_LINKER} ${PY_LDFLAGS} -Wl,-rpath,lib apriltag_pywrap.o $<TARGET_FILE:apriltag> -o apriltag${PY_EXT_SUFFIX}
-        DEPENDS ${PROJECT_NAME} apriltag_pywrap.o)
-    add_custom_target(apriltag_python ALL
-        DEPENDS apriltag${PY_EXT_SUFFIX})
-
-execute_process(COMMAND python3 -m site --user-site OUTPUT_VARIABLE PY_DEST)
-string(STRIP ${PY_DEST} PY_DEST)
-install(FILES ${PROJECT_BINARY_DIR}/apriltag${PY_EXT_SUFFIX} DESTINATION ${PY_DEST})
-endif (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
+    # build python wrapper
+    add_subdirectory(libs/apriltag_python)
+endif()
 
 # Examples
-# apriltag_demo
-add_executable(apriltag_demo example/apriltag_demo.c)
-target_link_libraries(apriltag_demo ${PROJECT_NAME})
-
-# opencv_demo
-set(_OpenCV_REQUIRED_COMPONENTS core imgproc videoio highgui)
-find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} QUIET CONFIG)
-if(OpenCV_FOUND)
-    # NB: contrib required for TickMeter in OpenCV 2.4. This is only required for 16.04 backwards compatibility and can be removed in the future.
-    #     If we add it to the find_package initially, the demo won't build for newer OpenCV versions
-    if(OpenCV_VERSION VERSION_LESS "3.0.0")
-        list(APPEND _OpenCV_REQUIRED_COMPONENTS contrib)
-        find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} CONFIG)
-    endif()
-
-    add_executable(opencv_demo example/opencv_demo.cc)
-    target_link_libraries(opencv_demo apriltag ${OpenCV_LIBRARIES})
-    set_target_properties(opencv_demo PROPERTIES CXX_STANDARD 11)
-    install(TARGETS opencv_demo RUNTIME DESTINATION bin)
-else()
-    message(STATUS "OpenCV not found: Not building demo")
-endif(OpenCV_FOUND)
-
-# install example programs
-install(TARGETS apriltag_demo RUNTIME DESTINATION bin)
+if(BUILD_EXAMPLES)
+    # build examples
+    add_subdirectory(example)
+endif()
diff --git a/Makefile b/Makefile
@@ -6,9 +6,13 @@ AR = ar
 CFLAGS = -std=gnu99 -fPIC -Wall -Wno-unused-parameter -Wno-unused-function
 CFLAGS += -I. -O3 -fno-strict-overflow
 
+ROOT := $(shell pwd)
+APRILTAG_DIR := $(ROOT)/libs/apriltag
+APRILTAG_SRC_DIR := $(APRILTAG_DIR)/src
+
 #APRILTAG_SRCS := $(shell ls *.c common/*.c)
-APRILTAG_SRCS := apriltag.c apriltag_pose.c apriltag_quad_thresh.c common/g2d.c common/getopt.c common/homography.c common/image_u8.c common/image_u8x3.c common/image_u8x4.c common/matd.c common/pam.c common/pjpeg.c common/pjpeg-idct.c common/pnm.c common/string_util.c common/svd22.c common/time_util.c common/unionfind.c common/workerpool.c common/zarray.c common/zhash.c common/zmaxheap.c tag16h5.c tag25h9.c tag36h11.c tagCircle21h7.c tagCircle49h12.c tagCustom48h12.c tagStandard41h12.c tagStandard52h13.c
-APRILTAG_HEADERS := $(shell ls *.h common/*.h)
+APRILTAG_SRCS := $(APRILTAG_SRC_DIR)/apriltag.c $(APRILTAG_SRC_DIR)/apriltag_pose.c $(APRILTAG_SRC_DIR)/apriltag_quad_thresh.c $(APRILTAG_SRC_DIR)/common/g2d.c $(APRILTAG_SRC_DIR)/common/getopt.c $(APRILTAG_SRC_DIR)/common/homography.c $(APRILTAG_SRC_DIR)/common/image_u8.c $(APRILTAG_SRC_DIR)/common/image_u8x3.c $(APRILTAG_SRC_DIR)/common/image_u8x4.c $(APRILTAG_SRC_DIR)/common/matd.c $(APRILTAG_SRC_DIR)/common/pam.c $(APRILTAG_SRC_DIR)/common/pjpeg.c $(APRILTAG_SRC_DIR)/common/pjpeg-idct.c $(APRILTAG_SRC_DIR)/common/pnm.c $(APRILTAG_SRC_DIR)/common/string_util.c $(APRILTAG_SRC_DIR)/common/svd22.c $(APRILTAG_SRC_DIR)/common/time_util.c $(APRILTAG_SRC_DIR)/common/workerpool.c $(APRILTAG_SRC_DIR)/common/zarray.c $(APRILTAG_SRC_DIR)/common/zhash.c $(APRILTAG_SRC_DIR)/common/zmaxheap.c $(APRILTAG_SRC_DIR)/tag16h5.c $(APRILTAG_SRC_DIR)/tag25h9.c $(APRILTAG_SRC_DIR)/tag36h11.c $(APRILTAG_SRC_DIR)/tagCircle21h7.c $(APRILTAG_SRC_DIR)/tagCircle49h12.c $(APRILTAG_SRC_DIR)/tagCustom48h12.c $(APRILTAG_SRC_DIR)/tagStandard41h12.c $(APRILTAG_SRC_DIR)/tagStandard52h13.c
+APRILTAG_HEADERS := $(shell ls $(APRILTAG_DIR)/include/apriltag/*.h $(APRILTAG_DIR)/include/apriltag/common/*.h)
 APRILTAG_OBJS := $(APRILTAG_SRCS:%.c=%.o)
 TARGETS := libapriltag.a libapriltag.so
 
@@ -20,7 +24,7 @@ all: $(TARGETS)
 install: libapriltag.so
 	@chmod +x install.sh
 	@./install.sh $(PREFIX)/lib libapriltag.so
-	@./install.sh $(PREFIX)/include/apriltag $(APRILTAG_HEADERS)
+	@./install.sh $(PREFIX)/ $(APRILTAG_HEADERS)
 	@ldconfig
 
 libapriltag.a: $(APRILTAG_OBJS)
@@ -37,5 +41,5 @@ libapriltag.so: $(APRILTAG_OBJS)
 
 .PHONY: clean
 clean:
-	@rm -rf *.o common/*.o $(TARGETS)
+	@rm -rf $(APRILTAG_SRC_DIR)/*.o $(APRILTAG_SRC_DIR)/common/*.o $(TARGETS)
 	@$(MAKE) -C example clean
diff --git a/README.md b/README.md
@@ -15,7 +15,6 @@ AprilTag is the subject of the following papers.
 [Flexible Layouts for Fiducial Tags](https://april.eecs.umich.edu/papers/details.php?name=krogius2019iros)
 
 
-
 Usage
 =====
 [User Guide](https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide)
@@ -25,7 +24,7 @@ Install
 
 Officially only Linux operating systems are supported, although users have had success installing on Windows too.
 
-The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
+The default installation will place headers in /usr/local/include and shared libraries in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
 
 ## cmake
 If you have CMake installed, then do:

diff --git a/common/unionfind.c b/common/unionfind.c
diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
@@ -0,0 +1,34 @@
+## Build Examples
+
+### Note
+# apriltag targets are in the same build tree so can be used directly without installation 
+# or including the build-generated apriltagsTargets.cmake file 
+#
+# Typical usage would be to build and *install* the apriltag libraries and then, for your project use
+#       find_package(apriltag REQUIRED)
+#       target_link_libraries(my_application PRIVATE apriltag::detector apriltag::utils apriltag::tags)
+
+# apriltag_demo
+add_executable(apriltag_demo apriltag_demo.c)
+target_link_libraries(apriltag_demo PRIVATE apriltag-detector apriltag-utils apriltag-tags)
+
+set(_OpenCV_REQUIRED_COMPONENTS core imgproc videoio highgui)
+find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} QUIET CONFIG)
+if(OpenCV_FOUND)
+    # NB: contrib required for TickMeter in OpenCV 2.4. This is only required for 16.04 backwards compatibility and can be removed in the future.
+    #     If we add it to the find_package initially, the demo won't build for newer OpenCV versions
+    if(OpenCV_VERSION VERSION_LESS "3.0.0")
+        list(APPEND _OpenCV_REQUIRED_COMPONENTS contrib)
+        find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} CONFIG)
+    endif()
+
+    add_executable(opencv_demo opencv_demo.cc)
+    target_link_libraries(opencv_demo apriltag-detector apriltag-tags apriltag-utils ${OpenCV_LIBRARIES})
+    set_target_properties(opencv_demo PROPERTIES CXX_STANDARD 11)
+    install(TARGETS opencv_demo RUNTIME DESTINATION bin)
+else()
+    message(STATUS "OpenCV not found: Not building demo")
+endif(OpenCV_FOUND)
+
+# install example programs
+install(TARGETS apriltag_demo RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
diff --git a/example/apriltag_demo.c b/example/apriltag_demo.c
@@ -41,20 +41,20 @@ either expressed or implied, of the Regents of The University of Michigan.
     #include <unistd.h>
 #endif
 
-#include "apriltag.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 "common/getopt.h"
-#include "common/image_u8.h"
-#include "common/pjpeg.h"
-#include "common/zarray.h"
+#include "apriltag/apriltag.h"
+#include "apriltag/tag36h11.h"
+#include "apriltag/tag25h9.h"
+#include "apriltag/tag16h5.h"
+#include "apriltag/tagCircle21h7.h"
+#include "apriltag/tagCircle49h12.h"
+#include "apriltag/tagCustom48h12.h"
+#include "apriltag/tagStandard41h12.h"
+#include "apriltag/tagStandard52h13.h"
+
+#include "apriltag/common/getopt.h"
+#include "apriltag/common/image_u8.h"
+#include "apriltag/common/pjpeg.h"
+#include "apriltag/common/zarray.h"
 
 #define  HAMM_HIST_MAX 10
 

diff --git a/example/opencv_demo.cc b/example/opencv_demo.cc
@@ -31,16 +31,16 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include "opencv2/opencv.hpp"
 
 extern "C" {
-#include "apriltag.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 "common/getopt.h"
+#include "apriltag/apriltag.h"
+#include "apriltag/tag36h11.h"
+#include "apriltag/tag25h9.h"
+#include "apriltag/tag16h5.h"
+#include "apriltag/tagCircle21h7.h"
+#include "apriltag/tagCircle49h12.h"
+#include "apriltag/tagCustom48h12.h"
+#include "apriltag/tagStandard41h12.h"
+#include "apriltag/tagStandard52h13.h"
+#include "apriltag/common/getopt.h"
 }
 
 using namespace std;

diff --git a/CMake/apriltagConfig.cmake.in → libs/apriltag/CMake/apriltagConfig.cmake.in b/CMake/apriltagConfig.cmake.in → libs/apriltag/CMake/apriltagConfig.cmake.in
diff --git a/libs/apriltag/CMake/apriltagHelperFunctions.cmake b/libs/apriltag/CMake/apriltagHelperFunctions.cmake
@@ -0,0 +1,28 @@
+# Helper Functions
+function(set_apriltag_lib_property_defaults target_name)
+    set_target_properties(${target_name} PROPERTIES SOVERSION 3 VERSION ${PROJECT_VERSION})
+    set_target_properties(${target_name} PROPERTIES DEBUG_POSTFIX "d")
+    set_target_properties(${target_name} PROPERTIES POSITION_INDEPENDENT_CODE ON)
+endfunction()
+
+function(set_apriltag_named_exports_only target_name)
+    set_target_properties(${target_name} PROPERTIES 
+        C_VISIBILITY_PRESET hidden 
+        CXX_VISIBILITY_PRESET hidden
+        VISIBILITY_INLINES_HIDDEN ON
+        WINDOWS_EXPORT_ALL_SYMBOLS OFF
+        # multiple libs sharing same auto-generated header so override default to use apriltag_EXPORTS
+        DEFINE_SYMBOL apriltag_EXPORTS
+    )
+endfunction()
+
+function(set_apriltag_export_all target_name)
+    set_target_properties(${target_name} PROPERTIES 
+        C_VISIBILITY_PRESET default 
+        CXX_VISIBILITY_PRESET default
+        VISIBILITY_INLINES_HIDDEN OFF
+        WINDOWS_EXPORT_ALL_SYMBOLS ON
+        # multiple libs sharing same auto-generated header so override default to use apriltag_EXPORTS
+        DEFINE_SYMBOL apriltag_EXPORTS
+    )
+endfunction()