Merge pull request #53 from JuliaRobotics/feat/3Q20/drawimgtags

add drawTags! and bump v0.7.4

Project.toml

@@ -2,7 +2,7 @@ name = "AprilTags"
 uuid = "f0fec3d5-a81e-5a6a-8c28-d2b34f3659de"
 keywords = ["AprilTags", "fiducials", "markers"]
 desc = "Visual fiducial marking system"
-version = "0.7.3"
+version = "0.7.4"
 
 [deps]
 ColorTypes = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
@@ -24,6 +24,7 @@ julia = "0.7, 1"
 
 [extras]
 FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
+FreeTypeAbstraction = "663a7486-cb36-511b-a19d-713bb74d65c9"
 ImageCore = "a09fc81d-aa75-5fe9-8630-4744c3626534"
 ImageMagick = "6218d12a-5da1-5696-b52f-db25d2ecc6d1"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"

docs/src/index.md

@@ -72,6 +72,31 @@ Eg. to create a tag image with id 1 from family 'tag36h11' run:
 getAprilTagImage(1, AprilTags.tag36h11)
 ```
 
+## Visualizing Tags
+
+Images can be updated to include the tag detections,
+```julia
+drawTagBox!(image, tag)
+```
+
+Or if the camera matrix `K` is known, the axes can be shown with
+```julia
+drawTagAxes!(image, tag, K)
+```
+
+Furthermore, the tag IDs can also be visualized by first loading a different package:
+```julia
+using FreeTypeAbstraction
+using AprilTags
+using ImageView
+
+# get an image
+img_ = drawTags(image, K)
+imshow(img_)
+
+# drawTags!(image, K, tags)
+```
+
 ## Manual Outline
 ```@contents
 Pages = [

src/AprilTags.jl

@@ -8,11 +8,7 @@ function __init__()
     isfile(depfile) ? include(depfile) : error("AprilTags.jl not properly installed. Please run: Pkg.build(\"AprilTags\")")
 
     # conditional requirement
-    @require FreeTypeAbstraction="663a7486-cb36-511b-a19d-713bb74d65c9" begin
-      using .FreeTypeAbstraction
-      @info "AprilTags.jl is loading tagtext.jl conditioned on using FreeTypeAbstraction"
-      include("tagtext.jl")
-    end
+    @require FreeTypeAbstraction="663a7486-cb36-511b-a19d-713bb74d65c9" include("tagtext.jl")
 end
 
 using LinearAlgebra, Statistics
@@ -49,5 +45,6 @@ drawTagAxes!
 include("wrapper.jl")
 include("helpers.jl")
 include("tagdraw.jl")
+include("additionalutils.jl")
 
 end # module

src/additionalutils.jl

@@ -0,0 +1,42 @@
+# Functionality that may be loaded more than one
+
+export drawTags!, drawTags
+
+
+"""
+    drawTags!
+
+Draw axes and tag IDs on an image based on detections in `tags`.
+
+Notes
+- Will self detect tags, or requires user to pass in `tags` detections.
+"""
+function drawTags!(imageCol::AbstractArray{<:AbstractRGB,2}, 
+                   K::AbstractArray{<:Real,2},
+                   tags::AbstractArray{AprilTag,1} = AprilTagDetector()(imageCol),
+                   drawReticle::Bool = false )
+  #
+  # draw the tag number for each tag
+  if @isdefined(drawTagID!)
+    foreach(x->drawTagID!(imageCol, x),tags)
+  end
+  #draw color box on tag corners
+  foreach(tag->drawTagBox!(imageCol, tag, width = 2, drawReticle = drawReticle), tags)
+  foreach(tag->drawTagAxes!(imageCol,tag, K), tags)
+  imageCol
+end
+
+"""
+    drawTags
+
+Draw axes and tag IDs on an image based on detections in `tags`.
+
+Notes
+- Will self detect tags, or requires user to pass in `tags` detections.
+"""
+drawTags(imageCol::AbstractArray{<:AbstractRGB,2},K::AbstractArray{<:Real,2},tags::AbstractArray{AprilTag,1}=AprilTagDetector()(imageCol),drawReticle::Bool=false ) = drawTags!(RGB.(imageCol),K,tags,drawReticle)
+# Convert image to RGB
+# imageCol = RGB.(image)
+
+
+#

src/tagdraw.jl

@@ -97,8 +97,10 @@ Draw the tag x, y, and z axes to show the orientation.
 foreach(tag->drawTagAxes!(imageCol, tag, K), tags)
 `
 """
-function drawTagAxes!(image::Array{T,2}, tag::AprilTag, K::Array{Float64,2}) where T <: RGB
-
+function drawTagAxes!(image::AbstractArray{<:AbstractRGB,2}, 
+                      tag::AprilTag, 
+                      K::AbstractArray{<:Real,2} )
+    #
     Kp = [K [0;0]; 0.0 0.0 1.0 0.0]
     pose = AprilTags.homography_to_pose(tag.H, K[1,1], K[2,2], K[1,3], K[2,3])
 
@@ -126,3 +128,5 @@ function drawTagAxes!(image::Array{T,2}, tag::AprilTag, K::Array{Float64,2}) whe
     draw!(image, LineSegment(ip0, ip3), RGB{N0f8}(0.0, 0.0, 1.0), boundedBresenham)
     image
 end
+
+

src/tagtext.jl

@@ -1,5 +1,9 @@
 # text and tags and images
 
+using .FreeTypeAbstraction
+@info "AprilTags.jl is loading tagtext.jl conditioned on using FreeTypeAbstraction"
+
+
 export drawTagID!, drawTagNumber!
 
 """