2 files changed, 28 insertions, 15 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 5076f3d..135eb08 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -274,12 +274,19 @@ class ArUcoDetector():
 
         return len(list(self.__detected_markers.keys()))
 
-    def draw_detected_markers(self, image: numpy.array):
-        """Draw traked markers."""
+    def draw_detected_markers(self, image: numpy.array, draw_marker: dict = None):
+        """Draw detected markers.
 
-        for marker_id, marker in self.__detected_markers.items():
+        Parameters:
+            image: image where to draw
+            draw_marker: ArucoMarker.draw parameters (if None, no marker drawn)
+        """
+
+        if draw_marker is not None:
+
+            for marker_id, marker in self.__detected_markers.items():
 
-            marker.draw(image, self.optic_parameters.K, self.optic_parameters.D)
+                marker.draw(image, self.optic_parameters.K, self.optic_parameters.D, **draw_marker)
             
     def detect_board(self, image: numpy.array, board, expected_markers_number):
         """Detect ArUco markers board in image setting up the number of detected markers needed to agree detection.
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarker.py b/src/argaze/ArUcoMarkers/ArUcoMarker.py
index 3a13c10..57bd8bd 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarker.py
@@ -12,7 +12,7 @@ from dataclasses import dataclass, field
 from argaze.ArUcoMarkers import ArUcoMarkersDictionary
 
 import numpy
-import cv2 as cv
+import cv2
 import cv2.aruco as aruco
 
 @dataclass
@@ -40,9 +40,6 @@ class ArUcoMarker():
     points: numpy.array = field(init=False, repr=False)
     """Estimated 3D corners positions in camera world referential."""
 
-    color: tuple = field(init=False, repr=False, default_factory=lambda : (0, 255, 0))
-    """Color used to draw marker on image."""
-
     @property
     def center(self) -> numpy.array:
         """Get 2D center position in camera image referential."""
@@ -59,15 +56,24 @@ class ArUcoMarker():
 
         return numpy.repeat(matrix, 3).reshape(dimension, dimension, 3)
 
-    def draw(self, image: numpy.array, K, D):
-        """Draw marker in image."""
+    def draw(self, image: numpy.array, K, D, color: tuple = None, draw_axes: dict = None):
+        """Draw marker in image.
+
+        Parameters:
+            image: image where to draw
+            color: marker color (if None, no marker drawn)
+            draw_axes: enable marker axes drawing
+        """
+
+        # Draw marker if required
+        if color is not None:
 
-        # Draw marker axis if pose has been estimated
-        if self.translation.size == 3 and self.rotation.size == 9:
+            aruco.drawDetectedMarkers(image, [self.corners], numpy.array([self.identifier]), color)
 
-            cv.drawFrameAxes(image, numpy.array(K), numpy.array(D), self.rotation, self.translation, self.size)
+        # Draw marker axes if pose has been estimated and if required
+        if self.translation.size == 3 and self.rotation.size == 9 and draw_axes is not None:
 
-        aruco.drawDetectedMarkers(image, [self.corners], numpy.array([self.identifier]), self.color)
+            cv2.drawFrameAxes(image, numpy.array(K), numpy.array(D), self.rotation, self.translation, self.size, **draw_axes)
 
     def save(self, destination_folder, dpi):
         """Save marker image as .png file into a destination folder."""
@@ -75,5 +81,5 @@ class ArUcoMarker():
         filename = f'{self.dictionary.name}_{self.dictionary.format}_{self.identifier}.png'
         filepath = f'{destination_folder}/{filename}'
 
-        cv.imwrite(filepath, self.image(dpi))
+        cv2.imwrite(filepath, self.image(dpi))