Merge pull request #114 from JuliaRobotics/23Q3/enh/updates

updates and feature plot

Project.toml

@@ -14,7 +14,7 @@ StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 
 [compat]
-Caesar = "0.14, 0.15"
+Caesar = "0.15, 0.16"
 ColorSchemes = "3"
 DocStringExtensions = "0.8, 0.9"
 GLMakie = "0.7, 0.8"

src/Arena.jl

@@ -17,5 +17,6 @@ using StaticArrays
 include("Exports.jl")
 include("services/PlotPointCloudMap.jl")
 include("services/PlotBoundingBox.jl")
+include("services/PlotFeatureTracks.jl")
 
 end # module

src/Exports.jl

@@ -4,4 +4,6 @@ export plotPointCloud, plotPointCloudPair
 export plotGraphPointClouds
 export plotBoundingBox, plotBoundingBox!
 
-export makeWireframeHyperRectangle,calcBoxWireframe,plotBoundingBoxHack,plotBoundingBoxHack!,plotBoundingBoxTool,plotWireframeHyperRectangle
+export makeWireframeHyperRectangle,calcBoxWireframe,plotBoundingBoxHack,plotBoundingBoxHack!,plotBoundingBoxTool,plotWireframeHyperRectangle
+
+export plotBlobsImageTracks!

src/services/PlotFeatureTracks.jl

@@ -0,0 +1,44 @@
+
+
+# visualization aid
+
+function plotBlobsImageTracks!(
+  dfg::AbstractDFG,
+  vlb::Symbol,
+  key = r"IMG_FEATURE_TRACKS_FWDBCK";
+  fig = GLMakie.Figure(),
+  ax = GLMakie.Axis(fig[1,1]),
+  resolution::Union{Nothing,<:Tuple} = nothing,
+  img::Union{Nothing,<:AbstractMatrix{<:Colorant}} = nothing,
+  linewidth = 5
+)
+
+  height = 0
+  if !isnothing(img)
+    image!(ax, rotr90(img))
+    height = size(img,1)
+  end
+
+  eb = getData(dfg,vlb,key)
+  img_tracks = JSON3.read(String(eb[2]), Dict{Int, Vector{Vector{Float32}}})
+
+  len = length(img_tracks)
+  UU = [Vector{Float64}() for k in 1:len]
+  VV = [Vector{Float64}() for k in 1:len]
+
+  fbk = floor(Int, (len-1)/2)
+  for k in 1:len
+    for i in -fbk:fbk
+      push!(UU[k],  img_tracks[i][k][1])  
+      push!(VV[k], height-img_tracks[i][k][2])
+    end
+    lines!(ax, UU[k], VV[k]; color=RGBf(rand(3)...), linewidth)
+  end
+  if !isnothing(resolution)
+    xlims!(ax, 0, resolution[1])
+    ylims!(ax, height - resolution[2], height)
+    # ylims!(ax, -resolution[2], 0)
+  end
+
+  fig
+end