Merge pull request #86 from JuliaRobotics/master

v0.9.1-rc1

.github/workflows/CI.yml

@@ -0,0 +1,59 @@
+name: CI
+on:
+  push:
+    branches:
+      - master
+    tags: '*'
+  pull_request:
+concurrency:
+  # Skip intermediate builds: always.
+  # Cancel intermediate builds: only if it is a pull request build.
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ startsWith(github.ref, 'refs/pull/') }}
+jobs:
+  test:
+    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        version:
+          - '1.3'
+          - '1.7'
+          - 'nightly'
+        os:
+          - ubuntu-latest
+        arch:
+          - x64
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: ${{ matrix.version }}
+          arch: ${{ matrix.arch }}
+      - uses: julia-actions/cache@v1
+      - uses: julia-actions/julia-buildpkg@v1
+      - uses: julia-actions/julia-runtest@v1
+      - uses: julia-actions/julia-processcoverage@v1
+      - uses: codecov/codecov-action@v2
+        with:
+          files: lcov.info
+  docs:
+    name: Documentation
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: '1'
+      - uses: julia-actions/julia-buildpkg@v1
+      - uses: julia-actions/julia-docdeploy@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
+      - run: |
+          julia --project=docs -e '
+            using Documenter: DocMeta, doctest
+            using AprilTags
+            DocMeta.setdocmeta!(AprilTags, :DocTestSetup, :(using AprilTags); recursive=true)
+            doctest(AprilTags)'

.github/workflows/CompatHelper.yml

@@ -1,26 +1,45 @@
 name: CompatHelper
-
 on:
   schedule:
-    - cron: '20 00 * * *'
-  issues:
-    types: [opened, reopened]
-
+    - cron: 0 0 * * *
+  workflow_dispatch:
+permissions:
+  contents: write
+  pull-requests: write
 jobs:
   CompatHelper:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        julia-version: [1.2.0]
-        julia-arch: [x86]
-        os: [ubuntu-latest]
+    runs-on: ubuntu-latest
     steps:
-      - uses: julia-actions/setup-julia@latest
+      - name: Check if Julia is already available in the PATH
+        id: julia_in_path
+        run: which julia
+        continue-on-error: true
+      - name: Install Julia, but only if it is not already available in the PATH
+        uses: julia-actions/setup-julia@v1
         with:
-          version: ${{ matrix.julia-version }}
-      - name: Pkg.add("CompatHelper")
-        run: julia -e 'using Pkg; Pkg.add("CompatHelper")'
-      - name: CompatHelper.main()
+          version: '1'
+          # arch: ${{ runner.arch }}
+        if: steps.julia_in_path.outcome != 'success'
+      - name: "Add the General registry via Git"
+        run: |
+          import Pkg
+          ENV["JULIA_PKG_SERVER"] = ""
+          Pkg.Registry.add("General")
+        shell: julia --color=yes {0}
+      - name: "Install CompatHelper"
+        run: |
+          import Pkg
+          name = "CompatHelper"
+          uuid = "aa819f21-2bde-4658-8897-bab36330d9b7"
+          version = "3"
+          Pkg.add(; name, uuid, version)
+        shell: julia --color=yes {0}
+      - name: "Run CompatHelper"
+        run: |
+          import CompatHelper
+          CompatHelper.main()
+        shell: julia --color=yes {0}
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: julia -e 'using CompatHelper; CompatHelper.main()'
+          COMPATHELPER_PRIV: ${{ secrets.DOCUMENTER_KEY }}
+          # COMPATHELPER_PRIV: ${{ secrets.COMPATHELPER_PRIV }}

Project.toml

@@ -2,7 +2,7 @@ name = "AprilTags"
 uuid = "f0fec3d5-a81e-5a6a-8c28-d2b34f3659de"
 keywords = ["AprilTags", "fiducials", "markers", "camera", "calibration"]
 desc = "Visual fiducial marking system"
-version = "0.9.0"
+version = "0.9.1"
 
 [deps]
 AprilTags_jll = "49f4e9a8-0306-5d58-91df-e9c3c0e42747"
@@ -18,9 +18,9 @@ Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 
 [compat]
 AprilTags_jll = "0.1.0"
-ColorTypes = "0.10"
+ColorTypes = "0.10, 0.11"
 Colors = "0.8, 0.9, 0.10, 0.11, 0.12"
-DocStringExtensions = "0.8"
+DocStringExtensions = "0.8, 0.9"
 FixedPointNumbers = "0.7, 0.8"
 ImageDraw = "0.1, 0.2"
 Requires = "1.0"

README.md

@@ -1,6 +1,6 @@
 # AprilTags
 
-[![Build Status](https://travis-ci.org/JuliaRobotics/AprilTags.jl.svg?branch=master)](https://travis-ci.org/JuliaRobotics/AprilTags.jl)
+[![CI](https://github.com/JuliaRobotics/AprilTags.jl/actions/workflows/CI.yml/badge.svg?branch=master)](https://github.com/JuliaRobotics/AprilTags.jl/actions/workflows/CI.yml)
 [![codecov.io](http://codecov.io/github/JuliaRobotics/AprilTags.jl/coverage.svg?branch=master)](http://codecov.io/github/JuliaRobotics/AprilTags.jl?branch=master)
 [![docs](https://img.shields.io/badge/docs-latest-blue.svg)](https://juliarobotics.github.io/AprilTags.jl/latest/)
 

docs/Project.toml

@@ -1,5 +1,6 @@
 [deps]
+AprilTags = "f0fec3d5-a81e-5a6a-8c28-d2b34f3659de"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 
 [compat]
-Documenter = "~0.21"
+Documenter = "0.27"

docs/make.jl

@@ -1,20 +1,20 @@
-using Pkg
-Pkg.build("AprilTags")
-using Documenter, AprilTags
+using AprilTags
+using Documenter
 
 makedocs(
     modules = [AprilTags],
-    format = :html,
+    format=Documenter.HTML(;
+        prettyurls=get(ENV, "CI", "false") == "true",
+    ),
     sitename = "AprilTags.jl",
     pages = Any[
         "Home" => "index.md",
         "Functions" => "func_ref.md"
     ]
-    # html_prettyurls = !("local" in ARGS),
     )
 
 
 deploydocs(
     repo   = "github.com/JuliaRobotics/AprilTags.jl.git",
     target = "build"
-)
+    )

docs/src/index.md

@@ -153,6 +153,7 @@ See the [Calibration example](https://github.com/JuliaRobotics/AprilTags.jl/blob
 
 ```@docs
 calcCalibResidualAprilTags!
+calcCornerProjectionsAprilTags!
 ```
 
 ## Manual Outline

src/calibrationutils.jl

@@ -159,16 +159,16 @@ using AprilTags
 using FileIO
 
 # where are the photos of the calibration files
-filepaths = [photo1.jpg; photo2.jpg;...]
+filepaths = ["photo1.jpg"; "photo2.jpg";...]
 # load the images into memory
 imgs = load.(filepaths)
 
-# It's imporant that you measure and specif_height the tag length correctly here
+# It's imporant that you measure and specify the tag length correctly here
 # 30 mm is just a guess, insert your own correct tag measurements here.
 taglength = 0.03
 
 # rough guess of what calibration parameters might be
-# x,y <==> rows,colums
+# img[rows,columns] <==> img[height, width]
 c_width = size(imgs[1],2) / 2 # columns across in Images.jl
 c_height = size(imgs[1],1) / 2 # rows down in Images.jl
 f_width = size(imgs[1],1)
@@ -220,7 +220,7 @@ freeDetector!(detector) # could also use a deepcopy to duplicate the memory to a
 
 ### Related
 
-[`calcCornerProjectionsAprilTags`](@ref)
+[`calcCornerProjectionsAprilTags!`](@ref)
 """
 function calcCalibResidualAprilTags!( images::AbstractVector,
                                       allTags::AbstractVector;

src/helpers.jl

@@ -1,13 +1,32 @@
 @enum TagFamilies tag36h11 tag25h9 tag16h5
 
+"""
+    $(TYPEDEF)
+Represents the detected April tag.
+---
+Fields:
+    $(TYPEDFIELDS)
+"""
 struct AprilTag
+    "The family of the tag."
     family::String
+    "The decoded ID of the tag."
     id::Int
+    """How many error bits were corrected? 
+       Note: accepting large numbers of corrected errors leads to greatly increased false positive rates. 
+       NOTE: As of this implementation, the detector cannot detect tags with a Hamming distance greater than 2."""
     hamming::Int
-    # goodness::Float32
+    """A measure of the quality of the binary decoding process: the average difference between the intensity of a data bit versus
+       the decision threshold. Higher numbers roughly indicate better decodes. This is a reasonable measure of detection accuracy
+       only for very small tags-- not effective for larger tags (where we could have sampled anywhere within a bit cell and still
+       gotten a good detection.)"""
     decision_margin::Float32
+    """The 3x3 homography matrix describing the projection from an "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1,-1))
+	to pixels in the image."""
     H::Matrix{Float64}
+    "The center of the detection in image pixel coordinates"
     c::Vector{Float64}
+    "The corners of the tag in image pixel coordinates. These always wrap counter-clock wise around the tag."
     p::Vector{Vector{Float64}}
 end