Rebase from 'release/humble/apriltag'

.github/workflows/bloom.yml

@@ -0,0 +1,53 @@
+name: bloom
+
+on: [push, pull_request]
+
+jobs:
+  build_linux:
+    name: "Ubuntu (${{ matrix.ros_distribution }})"
+
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        include:
+          - docker_image: ubuntu:20.04
+            ros_distribution: noetic
+
+          - docker_image: ubuntu:22.04
+            ros_distribution: humble
+
+          - docker_image: ubuntu:24.04
+            ros_distribution: jazzy
+
+    container:
+      image: ${{ matrix.docker_image }}
+
+    env:
+      DEBIAN_FRONTEND: noninteractive
+
+    steps:
+      - name: install core dependencies
+        run: |
+          apt update
+          apt install -y --no-install-recommends git ca-certificates
+
+      - uses: actions/checkout@v4
+
+      - uses: ros-tooling/setup-ros@v0.7
+
+      - name: install build tool dependencies
+        run: |
+          apt install -y --no-install-recommends devscripts equivs python3-bloom
+
+      - name: bloom
+        run: |
+          rosdep update
+          bloom-generate rosdebian --ros-distro ${{ matrix.ros_distribution }}
+          mk-build-deps
+          apt install -y --no-install-recommends ./ros-${{ matrix.ros_distribution }}-apriltag-build-deps_*_all.deb
+          dpkg-buildpackage -b
+
+      - name: install bloomed packages
+        run: |
+          apt install -y --no-install-recommends ../ros-${{ matrix.ros_distribution }}-apriltag_*.deb ../ros-${{ matrix.ros_distribution }}-apriltag-dbgsym_*.ddeb

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-project(apriltag VERSION 3.4.1 LANGUAGES C)
+project(apriltag VERSION 3.4.2 LANGUAGES C)
 
 if(POLICY CMP0077)
     cmake_policy(SET CMP0077 NEW)

common/matd.c

@@ -1148,7 +1148,7 @@ static matd_svd_t matd_svd_tall(matd_t *A, int flags)
     assert(maxiters > 0); // reassure clang
     int iter;
 
-    double maxv; // maximum non-zero value being reduced this iteration
+    double maxv = 0; // maximum non-zero value being reduced this iteration
 
     double tol = 1E-10;
 

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>apriltag</name>
-  <version>3.4.1</version>
+  <version>3.4.2</version>
   <description>AprilTag detector library</description>
 
   <maintainer email="mkrogius@umich.edu">Max Krogius</maintainer>