Merge branch 'apriltags-2.0.0' of https://github.com/deltacv/AprilTag…

…Desktop into apriltags-2.0.0

.github/workflows/gradle.yml

@@ -0,0 +1,30 @@
+# This workflow uses actions that are not certified by GitHub.
+# They are provided by a third-party and are governed by
+# separate terms of service, privacy policy, and support
+# documentation.
+# This workflow will build a Java project with Gradle and cache/restore any dependencies to improve the workflow execution time
+# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-java-with-gradle
+
+name: Java CI with Gradle
+
+on: [push, pull_request]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up JDK 11
+      uses: actions/setup-java@v3
+      with:
+        java-version: '11'
+        distribution: 'temurin'
+    - name: Build with Gradle
+      uses: gradle/gradle-build-action@bd5760595778326ba7f1441bcf7e88b49de61a25 # v2.6.0
+      with:
+        arguments: build

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

@@ -21,6 +21,7 @@
 
 package org.openftc.apriltag;
 
+import org.firstinspires.ftc.robotcore.external.matrices.GeneralMatrixF;
 import io.github.deltacv.apriltag.NativeLibLoader;
 import org.opencv.core.Point;
 
@@ -126,9 +127,15 @@ public static ArrayList<AprilTagDetection> getDetections(long ptrDetections, dou
             detection.pose.x = pose[0];
             detection.pose.y = pose[1];
             detection.pose.z = pose[2];
-            detection.pose.yaw = pose[3];
-            detection.pose.pitch = pose[4];
-            detection.pose.roll = pose[5];
+
+            float[] rotMtxVals = new float[3*3];
+
+            for (int i = 0; i < 9; i++)
+            {
+                rotMtxVals[i] = (float) pose[3 + i];
+            }
+
+            detection.pose.R = new GeneralMatrixF(3, 3, rotMtxVals);
 
             detections.add(detection);
         }