AprilTags 2.0.0 ready for release

RobotCore/build.gradle

@@ -1,5 +1,6 @@
 plugins {
     id 'java'
+    id 'maven-publish'
 }
 
 group 'org.firstinspires.ftc'
@@ -10,20 +11,21 @@ java {
     targetCompatibility = JavaVersion.VERSION_1_8
 }
 
-sourceSets {
-    main {
-        resources {
-            // include native libs in the compiled jar
-            srcDirs "lib/"
-        }
-    }
-}
 
 task sourcesJar(type: Jar) {
     from sourceSets.main.allJava
     archiveClassifier = "sources"
 }
 
+publishing {
+    publications {
+        mavenJava(MavenPublication) {
+            from components.java
+            artifact sourcesJar
+        }
+    }
+}
+
 repositories {
     mavenCentral()
 }

RobotCore/src/main/java/org/firstinspires/ftc/robotcore/external/navigation/DistanceUnit.java

@@ -0,0 +1,4 @@
+package org.firstinspires.ftc.robotcore.external.navigation;
+
+public class DistanceUnit {
+}

build.gradle

@@ -4,7 +4,7 @@ plugins {
 }
 
 group 'com.github.deltacv'
-version '1.1.1'
+version '2.0.0-A'
 
 java {
     sourceCompatibility = JavaVersion.VERSION_1_8

example/src/main/java/io/github/deltacv/apriltag/example/AprilTagExample.java

@@ -37,23 +37,23 @@ public static void main(String[] args) {
 
         VideoCapture camera = new VideoCapture();
 
-        System.out.print("Enter a camera index: ");
-        int index = 0;//new Scanner(System.in).nextInt();
+        System.out.print("Enter camera index: ");
+        int index = new Scanner(System.in).nextInt();
 
         camera.open(index);
         if(!camera.isOpened()) {
-            System.out.println("Could not open camera " + index);
-            return;
+            System.err.println("\nCould not open camera " + index);
+            System.exit(1);
         }
 
         Mat image = new Mat();
         camera.read(image);
         if(image.empty()) {
-            System.out.println("Could not open camera " + index + " (image was empty)");
-            return;
+            System.err.println("\nCould not open camera " + index + " (image was empty)");
+            System.exit(1);
         }
 
-        System.out.println("Opened camera " + index);
+        System.out.println("\nOpened camera " + index);
 
         while(camera.isOpened()) {
             camera.read(image);

settings.gradle

@@ -1,3 +1,3 @@
 rootProject.name = 'AprilTagDesktop'
 include 'RobotCore'
-
+include 'example'

src/main/java/io/github/deltacv/apriltag/NativeLibLoader.java → src/main/java/io/github/deltacv/apriltag/AprilTagLibLoader.java

@@ -24,88 +24,67 @@
 package io.github.deltacv.apriltag;
 
 import java.io.File;
-import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.StandardCopyOption;
 
-public class NativeLibLoader {
+public class AprilTagLibLoader {
 
-    private NativeLibLoader() { }
-
-    public enum OperatingSystem {
-        WINDOWS,
-        LINUX,
-        MACOS_X86,
-	MACOS_SILICON,
-        UNKNOWN
+    private AprilTagLibLoader() {
     }
 
-    public static OperatingSystem getOS() {
-        String osName = System.getProperty("os.name").toLowerCase();
-	String arch = System.getProperty("os.arch");
-
-        if (osName.contains("win")) {
-            return OperatingSystem.WINDOWS;
-        } else if (osName.contains("nux")) {
-            return OperatingSystem.LINUX;
-        } else if (osName.contains("mac") || osName.contains("darwin")) {
-	    if(arch.equals("aarch64") || arch.contains("arch") || arch.contains("arm")) {
-                return OperatingSystem.MACOS_SILICON;
-	    } else {
-                return OperatingSystem.MACOS_X86;
-	    }
-        }
-
-        return OperatingSystem.UNKNOWN;
-    }
-
-	private static boolean hasBeenLoaded = false;
+    private static boolean hasBeenLoaded = false;
 
     public static void load() {
-		if(hasBeenLoaded) {
-			return;
-		}
-		
-        OperatingSystem OS = getOS();
+        if (hasBeenLoaded) {
+            return;
+        }
+
+        SystemUtil.OperatingSystem OS = SystemUtil.getOS();
         String osName = System.getProperty("os.name").toLowerCase();
+
+        String prefix = "lib";
         String extension = "";
 
-        switch(OS) {
+        String arch = "";
+
+        if(SystemUtil.getArch() != SystemUtil.Architecture.UNKNOWN) {
+            arch = "_" + SystemUtil.getArch().suffix;
+        }
+
+        switch (OS) {
             case WINDOWS:
-                extension = ".dll";
+                extension = arch + ".dll";
+                prefix = "";
                 break;
             case LINUX:
-                extension = ".so";
-                break;
-            case MACOS_X86:
-                extension = ".dylib";
+                extension = arch + ".so";
                 break;
-            case MACOS_SILICON:
-                extension = "_arm.dylib";
+            case MACOS:
+                extension = arch + ".dylib";
                 break;
             case UNKNOWN:
                 throw new UnsupportedOperationException("The " + osName + " platform couldn't be recognized, therefore the april tag desktop plugin is not supported");
         }
 
-        String name =  "libapriltag" + extension;
+        String name = prefix + "apriltag" + extension;
 
         String tmpDir = System.getProperty("java.io.tmpdir");
         File tempFile = new File(tmpDir + File.separator + name);
 
         try {
-            Files.copy(NativeLibLoader.class.getResourceAsStream("/" + name), tempFile.toPath(), StandardCopyOption.REPLACE_EXISTING);
-        } catch(NullPointerException e) {
-            throw new UnsupportedOperationException("A native lib could not be found for the " + osName + " platform, this probably means that the AprilTag plugin is not supported", e);
-        } catch(Exception e) {
-            throw new RuntimeException("Error while extracting native library", e);
+            Files.copy(AprilTagLibLoader.class.getResourceAsStream("/" + name), tempFile.toPath(), StandardCopyOption.REPLACE_EXISTING);
+        } catch (NullPointerException e) {
+            throw new UnsupportedOperationException("Library could not be found for the " + osName + " platform, AprilTag plugin is not supported. Tried " + name, e);
+        } catch (Exception e) {
+            throw new RuntimeException("Error while extracting library", e);
         }
 
         try {
             System.load(tempFile.getAbsolutePath());
-        } catch(Throwable e) {
-            throw new UnsupportedOperationException("The native library failed to link, which probably means that the AprilTag plugin is not supported in the " + osName + " platform", e);
+        } catch (Throwable e) {
+            throw new UnsupportedOperationException("Library failed to link, AprilTag plugin is not supported in the " + osName + " platform", e);
         }
-		
+
         hasBeenLoaded = true;
     }
 

src/main/java/io/github/deltacv/apriltag/SystemUtil.java

@@ -0,0 +1,49 @@
+package io.github.deltacv.apriltag;
+
+class SystemUtil {
+
+    public enum OperatingSystem {
+        WINDOWS, LINUX, MACOS, UNKNOWN
+    }
+
+    public enum Architecture {
+        AMD64("amd64"), ARM64("arm64"), UNKNOWN("");
+
+        public final String suffix;
+
+        Architecture(String suffix) {
+            this.suffix = suffix;
+        }
+    }
+
+    private SystemUtil() { }
+
+
+
+    public static OperatingSystem getOS() {
+        String osName = System.getProperty("os.name").toLowerCase();
+
+        if (osName.contains("win")) {
+            return OperatingSystem.WINDOWS;
+        } else if (osName.contains("nux")) {
+            return OperatingSystem.LINUX;
+        } else if (osName.contains("mac") || osName.contains("darwin")) {
+            return OperatingSystem.MACOS;
+        }
+
+        return OperatingSystem.UNKNOWN;
+    }
+
+    public static Architecture getArch() {
+        String arch = System.getProperty("os.arch").toLowerCase();
+
+        if(arch.equals("aarch64") || arch.contains("arch") || arch.contains("arm")) {
+            return Architecture.ARM64;
+        } else if(arch.equals("amd64") || arch.contains("64") || arch.contains("x86_64")) {
+            return Architecture.AMD64;
+        } else {
+            return Architecture.UNKNOWN;
+        }
+    }
+
+}

src/main/java/org/openftc/apriltag/AprilTagDetectorJNI.java

@@ -22,7 +22,7 @@
 package org.openftc.apriltag;
 
 import org.opencv.core.Mat;
-import io.github.deltacv.apriltag.NativeLibLoader;
+import io.github.deltacv.apriltag.AprilTagLibLoader;
 
 import java.util.ArrayList;
 
@@ -102,6 +102,6 @@ public static ArrayList<AprilTagDetection> runAprilTagDetectorSimple(long ptrDet
 
     static
     {
-        NativeLibLoader.load();
+        AprilTagLibLoader.load();
     }
 }

src/main/java/org/openftc/apriltag/ApriltagDetectionJNI.java

@@ -22,7 +22,7 @@
 package org.openftc.apriltag;
 
 import org.firstinspires.ftc.robotcore.external.matrices.GeneralMatrixF;
-import io.github.deltacv.apriltag.NativeLibLoader;
+import io.github.deltacv.apriltag.AprilTagLibLoader;
 import org.opencv.core.Point;
 
 import java.util.ArrayList;
@@ -145,6 +145,6 @@ public static ArrayList<AprilTagDetection> getDetections(long ptrDetections, dou
 
     static
     {
-        NativeLibLoader.load();
+        AprilTagLibLoader.load();
     }
 }