Skip to content

Latest commit

 

History

History
54 lines (30 loc) · 1.32 KB

README.md

File metadata and controls

54 lines (30 loc) · 1.32 KB
Raw

Ros wrapper for apriltags-cpp

Ros wrapper of the APRIL tags library, using OpenCV (and optionally, CGAL).

Requirements

Currently, apriltags-cpp requires the following to build:

  • Ros (any version works)
  • OpenCV >= 2.3
  • GLUT or freeglut (optional, used for test program)
  • Cairo (optional, used to print tags)
  • CGAL (optional, used for new quad detection algorithm)

You must have cmake installed to build the software as well.

Building

To compile the code,

catkin build

Demo/utility programs

The APRIL tags library is intended to be used as a library, from C++, but there are also five demo/utility programs included in this distribution:

  • rosrun apriltags_cpp camtest

  • rosrun apriltags_cpp tagtest

  • tagtest - Demonstrate tag recognition and time profiling.

  • camtest - Demonstrate 3D tag locations using OpenCV to visualize, with an attached camera.

  • gltest - Demonstrate 3D tag locations using OpenGL to visualize, with an attached camera.

  • quadtest - Demonstrate/test tag position refinement using a template tracking approach.

  • maketags - Create PDF files for printing tags.

There are some test images in the images directory, that may be useful to use with the tagtest program.