AprilTags install instructions

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A C++ port of Edwin Olson's AprilTags code is built in to Tekkotsu, so no additional installation is necessary to use it. The instructions below are for installing Olson's Java-based TagTest real-time demo on Ubuntu Linux systems.

1. Install necessary packages.

sudo -s
apt-get update
apt-get -y install git-core ant libjogl-java libjogl-jni 
apt-get -y install subversion gtk-doc-tools libglib2.0-dev libusb-1.0-0-dev

2. Install libdc1394 (camera support).

cd /opt
svn co https://libdc1394.svn.sourceforge.net/svnroot/libdc1394 libdc1394
cd libdc1394/trunk/libdc1394
autoreconf -i -s
./configure   # Make sure you see "IIDC-over-USB support: Enabled"
make install

3. Install lcm. You can also view the available downloads at Google Code.

cd /opt
wget http://lcm.googlecode.com/files/lcm-0.7.1.tar.gz
tar -xvzf lcm-0.7.1.tar.gz
cd lcm-0.7.1
make install

4. Install April.

cd /usr/local
git clone git://april.eecs.umich.edu/home/git/april.git
cd april/java
export CLASSPATH=/usr/share/java/jogl.jar:/usr/share/java/gluegen-rt.jar:\

5. Install shell script to run the TagTest demo.

cd /usr/local/april/bin
cat >tagtest <<EOF
export CLASSPATH=/usr/share/java/jogl.jar:/usr/share/java/gluegen-rt.jar:\
export LD_LIBRARY_PATH=/usr/local/lib
cd /usr/local/april/java
java -ea -server -Djava.library.path=/usr/local/april/lib april.tag.TagTest
chmod +x tagtest