Experimental/threadcall

examples/threadcall_detect_in_image.jl

@@ -0,0 +1,56 @@
+using Images
+#Additional required packages to run this example.
+#Pkg.add("Images")
+
+using AprilTags
+
+# Simple method to show the image with the tags
+function showImage(image, tags)
+    # Convert image to RGB
+    imageCol = RGB.(image)
+    #traw color box on tag corners
+    foreach(tag->drawTagBox!(imageCol, tag), tags)
+    imageCol
+end
+
+
+##
+# Create default detector
+detector = AprilTagDetector()
+
+#Run against a file
+image = load(dirname(Base.source_path()) *"/../data/tagtest.jpg")
+
+@sync begin
+    starttime = Dates.value(now())
+    #call detector in thread
+    @async global t1 = @timed begin
+        println("time before detector $(Dates.value(now())-starttime) ms")
+        global tags = AprilTags.threadcalldetect(detector, image)
+        # ↑ comment --- compare with this --- uncomment ↓
+        # global tags = detector(image)
+        println("time after detector $(Dates.value(now())-starttime) ms")
+
+        @show length(tags)
+    end
+    #carry on doing something else
+    @async global t2 = @timed begin
+        println("time starting other $(Dates.value(now())-starttime) ms")
+        imageCol = load(dirname(Base.source_path()) *"/../data/colortag.jpg")
+        A = randn(1000,1000)
+        randsum = sum(A*A')
+        println("time finished other $(Dates.value(now())-starttime) ms")
+        @show randsum
+    end
+end
+
+    println("time for detector: $(t1[2]) seconds")
+    println("time for other: $(t2[2]) seconds")
+    println()
+
+showImage(image, tags)
+
+
+
+## clean up detector once finished
+freeDetector!(detector)

src/helpers.jl

@@ -84,6 +84,37 @@ function (detector::AprilTagDetector)(image::Array{ColorTypes.RGB{T}, 2}) where
     return detector(image)
 end
 
+"""
+	threadcalldetect(detector, image)
+Run the april tag detector on a image
+"""
+function threadcalldetect(detector::AprilTagDetector, image::Array{T, 2}) where T <: U8Types
+
+    if detector.td == C_NULL
+        error("AprilTags Detector does not exist")
+    end
+
+    if detector.tf == C_NULL
+        error("AprilTags family does not exist")
+    end
+    #create image8 object for april tags
+    image8 = convert(AprilTags.image_u8_t, image)
+
+    # run detector on image
+    detections =  threadcall_apriltag_detector_detect(detector.td, image8)
+
+    # copy and return detections julia struct
+    tags = AprilTags.copyAprilTagDetections(detections)
+    # copy and return detections c struct
+    # tags = getTagDetections(detections)
+
+    #distroy detections memmory
+    apriltag_detections_destroy(detections)
+
+    return tags
+
+end
+
 """
 	freeDetector!(apriltagdetector)
 Free the allocated memmory

src/wrapper.jl

@@ -286,7 +286,7 @@ mutable struct apriltag_detector
     nquads::UInt32
     tag_families::Ptr{zarray_t}
     wp::Ptr{workerpool_t}
-    
+
     # mutex::pthread_mutex_t
         mutex::NTuple{40, UInt8}
 
@@ -404,6 +404,18 @@ function apriltag_detector_detect(td, im_orig)
     ccall((:apriltag_detector_detect, :libapriltag), Ptr{zarray_t}, (Ptr{apriltag_detector_t}, Ptr{image_u8_t}), td, Ref(im_orig))
 end
 
+"""
+	threadcall_apriltag_detector_detect(tag_detector, image)
+*Experimental* call apriltag_detector_detect in a seperate thread using the experimantal `@threadcall`
+Detect tags from an image and return an array of apriltag_detection_t*.
+You can use apriltag_detections_destroy to free the array and the detections it contains, or call
+detection_destroy and zarray_destroy yourself.
+"""
+function threadcall_apriltag_detector_detect(td, im_orig)
+    @threadcall((:apriltag_detector_detect, :libapriltag), Ptr{zarray_t}, (Ptr{apriltag_detector_t}, Ptr{image_u8_t}), td, Ref(im_orig))
+end
+
+
 function apriltag_detection_destroy(det)
     ccall((:apriltag_detection_destroy, :libapriltag), Void, (Ptr{apriltag_detection_t},), det)
 end

test/runtests.jl

@@ -62,6 +62,9 @@ using Base.Test
         @test length(detector(gray.(image))) == 3
         @test length(detector(reinterpret(UInt8,image))) == 3
 
+        tagsth = AprilTags.threadcalldetect(detector, image)
+        @test length(tagsth) == 3
+
         #test on random image, should detect zero tags
         @test length(detector(rand(Gray{N0f8},100,100))) == 0
 
@@ -175,6 +178,7 @@ using Base.Test
         detector = AprilTagDetector()
         freeDetector!(detector)
         @test_throws ErrorException tags = detector(image)
+        @test_throws ErrorException tags = AprilTags.threadcalldetect(detector, image)
         @test_throws ErrorException AprilTags.setnThreads(detector, 4)
         @test_throws ErrorException AprilTags.setquad_decimate(detector, 1.0)
         @test_throws ErrorException AprilTags.setquad_sigma(detector,0.0)
@@ -186,6 +190,7 @@ using Base.Test
         detector = AprilTagDetector()
         detector.tf = C_NULL
         @test_throws ErrorException tags = detector(image)
+        @test_throws ErrorException tags = AprilTags.threadcalldetect(detector, image)
         @test freeDetector!(detector) == nothing
     end