suljaxm / apriltag_AR

apriltag_AR based on AprilTag 3

apriltag_AR

apriltag_AR based on AprilTag 3. This repository contains the visualization of camera pose and landmark, and compares cv::solvePnP and apriltag_detector_detect to obtain [R, t].

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apriltag_detector_detect:

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cv::solvePnP:

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void Draw:

( blue: landmarks , red: camera poses)

Usage

User Guide

Dependencies

• Eigen
• OpenCV >= 3.1
• Sophus
• G2O
• pangolin

Compile

mkdir build
cd build
cmake ..
make

run

./opencv_demo

TODO

• visualization

• g2o

• apriltag + orbslam

Flexible Layouts

You can generate your own tag families using AprilTag-Generation, or directly use in my fold ./tag36h11.

Papers ======

AprilTag is the subject of the following papers.

AprilTag: A robust and flexible visual fiducial system

AprilTag 2: Efficient and robust fiducial detection

Flexible Layouts for Fiducial Tags