The Apriltag testbench

Prerequisites

1. clone simuGL environment, which is a opengl based environment to draw objects in a 3D space. simuGL
2. You have to install opengl, apriltag, opencv in your computer.

Usage

prepare and compile

1. install opengl, opencv, apriltag in you computer
2. git clone https://github.com/freedomcondor/simuGL.git in any place, say it is ~/simuGL.
3. say you have this tagTestBench at ~/tagTestBench. Change ~/tagTestBench/CMakeList.txt line 4 to your simuGL location. In this case, ~/simuGL/src.
4. compile and run: mkdir build, cd build, cmake .., make.

Possible Problems

1. If you have problems linking opengl libraries (especially when your are using windows), the CMakeList.txt responsible for this is located at ~/simuGL/src/GLTools/CMakeLists.txt. You may need to change it to fit your system configuration.

How does this work

Basically, simuGL creates a opengl environment, and calls simu_init(), simu_step(), simu_draw(), simu_destroy() located in tagTestBench/MainLoop.cpp. This MainLoop.cpp is responsible for using opencv to open the camera or read a local image, using apriltag libraries to detect tags and estimate poses, and draw the result in the 3D space.