apriltags-cpp

C++ port of the APRIL tags library, using OpenCV (and optionally, CGAL).

Requirements

Currently, apriltags-cpp requires the following to build:

• 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,

cd /path/to/apriltags-cpp
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make

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:

• 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.