https://github.com/rpng/apriltags-cpp
A simple ros wrapper for apriltag-cpp
https://github.com/rpng/apriltags-cpp
Last synced: 4 months ago
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A simple ros wrapper for apriltag-cpp
- Host: GitHub
- URL: https://github.com/rpng/apriltags-cpp
- Owner: rpng
- Created: 2021-11-12T18:40:57.000Z (almost 4 years ago)
- Default Branch: main
- Last Pushed: 2021-11-16T17:35:36.000Z (almost 4 years ago)
- Last Synced: 2025-05-08T20:41:36.268Z (5 months ago)
- Language: C++
- Size: 9.51 MB
- Stars: 8
- Watchers: 4
- Forks: 2
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
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.