AprilTags
From Tekkotsu Wiki
AprilTags are an implementation of Augmented Reality Tags by Edwin Olson at the University of Michigan. They are visual markers designed for robust detection by machines. See the ARTag.net web site for basic information and alternative implementations of the augmented reality tag idea.
AprilTags Install Instructions
These instructions from Edwin Olson at the University of Michigan are for installing his April Tags package under Easy Peasy 1.5, but they should work on most Ubuntu Linux systems.
1. Install necessary packages.
sudo -s apt-get install git git-core ant libjogl-java libjogl-jni apt-get install subversion gtk-doc-tools libglib2.0-dev libusb
2. Install libdc1394 (camera support).
cd /usr/local 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 make install
3. 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:\ /usr/local/share/java/lcm.jar ant
4. 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:\ /usr/local/share/java/lcm.jar:/usr/local/april/java/april.jar cd /usr/local/april/java java -ea -server -Djava.library.path=/usr/local/april/lib april.tag.TagTest EOF chmod +x tagtest
To run the demo, type /usr/local/april/bin/tagtest.
Generating Some AprilTags
To generate .png files for each tag in the 36h11 family, use the following commands:
cd /usr/local/april/java export CLASSPATH=/usr/local/april/java/april.jar java april.tag.TagFamily april.tag.Tag36h11 /tmp/tag36h11
You can then use a program like gv to display /tmp/tag36h11/alltags.ps, or use gimp or display to show one of the .png files. A few sample tags are shown below.