C++ port of the APRIL tags library, using OpenCV (and optionally, CGAL).
Code has been modified for Vision Based Localization of Autonomous Vehicles in the Gulliver Project at Chalmers University, Sweden
Helper files and other functions have also been merged with the original project to help with certain functionalities:
Copyright (c) 2010 Chen Feng (cforrest (at) umich.edu)
This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.
More information can be found at: https://code.google.com/p/cv2cg/
Please be sure that you have the latest update to your Linux system and that all build-essentials are installed.
GulliView requires the following to build:
- OpenCV >= 2.3 (2.4.8 is now out and stable)
- GLUT or freeglut (freeglut3-dev)
- Cairo (libcairo2-dev)
- For creating tags (note: margins set to -10 for A4 paper)
- 32bit libraries (if using 64-bit machine --> la32-libs)
- Boost version 1.49 (sudo apt-get install libboost-all-dev)
- Used for sending Tag IDs, coordinates and timestamp to server over UDP
You must have cmake installed to build the software as well.
To compile the code,
cd /path/to/visionlocalization mkdir build cd build cmake .. -DCMAKE_BUILD_TYPE=Release make
The APRIL tags library is intended to be used as a library, from C++, but there are also three demo/utility programs included in this distribution:
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.
Simply clone visionlocalization from github directory (git clone https://firstname.lastname@example.org/thpe/visionlocalization.git) to a local directory of your choice. Note: Change "username" to username given to you to access repository. Follow building section to build all executables.
- cd /path/to/visionlocalization/build
- ./GulliViewServer (sudo if access is denied for binding process)
- in another terminal: ./GulliView -f Tag16h5 (or tag family of your choice)
- Start detecting and sending info to UDP server :)