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Simplified CMake-ified version of apriltags that doesn't use the PODS build system.
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AprilTags library Detect April tags (2D bar codes) in images; reports unique ID of each detection, and optionally its position and orientation relative to a calibrated camera. See examples/apriltags_demo.cpp for a simple example that detects April tags (see tags/pdf/tag36h11.pdf) in laptop or webcam images and marks any tags in the live image. Ubuntu dependencies: sudo apt-get install subversion cmake libopencv-dev libeigen3-dev libv4l-dev Mac dependencies: sudo port install pkgconfig opencv eigen3 Uses the pods build system in connection with cmake, see: http://sourceforge.net/p/pods/ Michael Kaess October 2012 ---------------------------- AprilTags were developed by Professor Edwin Olson of the University of Michigan. His Java implementation is available on this web site: http://april.eecs.umich.edu. Olson's Java code was ported to C++ and integrated into the Tekkotsu framework by Jeffrey Boyland and David Touretzky. See this Tekkotsu wiki article for additional links and references: http://wiki.tekkotsu.org/index.php/AprilTags ---------------------------- This C++ code was further modified by Michael Kaess (firstname.lastname@example.org) and Hordur Johannson (email@example.com) and the code has been released under the LGPL 2.1 license. - converted to standalone library - added stable homography recovery using OpenCV - robust tag code table that does not require a terminating 0 (omission results in false positives by illegal codes being accepted) - changed example tags to agree with Ed Olson's Java version and added all his other tag families - added principal point as parameter as in original code - essential for homography - added some debugging code (visualization using OpenCV to show intermediate detection steps) - added fast approximation of arctan2 from Ed's original Java code - using interpolation instead of homography in Quad: requires less homography computations and provides a small improvement in correct detections todo: - significant speedup could be achieved by performing image operations using OpenCV (Gaussian filter, but also operations in TagDetector.cc) - replacing arctan2 by precomputed lookup table - converting matrix operations to Eigen (mostly for simplifying code, maybe some speedup)