apriltag-pose

This library provides a light C++ wrapper of the AprilTag library to extract pose information from tags.

1. Development environment

• Ubuntu >= 14.04 64-bit (MacOS should also work, if you know how to configure it)
• GCC >= 4.8.4

2. Install dependencies

• Building tools, Git, CMake

$ sudo apt-get install build-essential
$ sudo apt-get install git
$ sudo apt-get install cmake

• OpenCV

Used to capture images from camera and basic image processing and display.

$ sudo apt-get install libopencv-dev

• Eigen

Header-only library used for linear algebra. Eigen 3.2.10 source included with this project.

3. Compile Code

• Clone source code from GitHub, assume your workspace is located at: ~/Workspace

$ cd ~/Workspace
$ git clone https://github.com/rxdu/apriltag_localization.git

• Build from terminal

$ cd ~/Workspace/apriltag_localization
$ mkdir build
$ cd build
$ cmake ../src
$ make

4. Use Eclipse with the Project

To generate project configurations for Eclipse, you need to pass in additional arguments to the "cmake" command.

$ cmake -G"Eclipse CDT4 - Unix Makefiles" ../src

If you want to compile code with Debug symbols, use the following command

$ cmake -G"Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug ../src

Reference

• OpenCV Camera Calibration