Apriltag Pose Estimator

This repository contains a C++ implementation of an AprilTag pose estimator using OpenCV and Eigen libraries. The ApriltagPoseEstimator class detects AprilTags in a video file and maintains a history of poses for each detected tag. The primary goal of this project is to measure the ground truth trajectory for a drone using an AprilTag placed on it.

Features

• Detects AprilTags in video files.
• Maintains a history of poses for each detected tag.
• Uses OpenCV for video processing and Eigen for matrix operations.

Installation

Prerequisites

Ensure you have the following dependencies installed:

• OpenCV
• Eigen
• AprilTag3 library

On Ubuntu, you can install the dependencies using apt:

sudo apt-get update
sudo apt-get install -y libopencv-dev libeigen3-dev libapriltag-dev

Building the Project

1. Clone the repository:

git clone https://github.com/tuxliri/ApriltagPoseEstimator.git
cd ApriltagPoseEstimator

2. Create a build directory and navigate into it:

mkdir build
cd build

3. Compile the project using g++:

g++ -o apriltag_pose_estimator ../main.cpp ../apriltag_pose_estimator.cpp -I/usr/include/eigen3 `pkg-config --cflags --libs opencv4`

Usage

1. Ensure you have a video file (e.g., example.mp4) in the project directory.

2. Run the executable:

./apriltag_pose_estimator <path_to_video> <path_to_camera_calibration>

Project Structure

.
├── apriltag_pose_estimator.cpp
└── README.md

• Dockerfile: Dockerfile for setting up the development environment.
• README.md: This file.
• main.cpp: Contains the main function and example usage of the ApriltagPoseEstimator class.
• apriltag_pose_estimator.cpp: Implementation of the ApriltagPoseEstimator class.
• apriltag_pose_estimator.h: Header file for the ApriltagPoseEstimator class.

License

This project is licensed under the MIT License. See the LICENSE file for details.

Acknowledgements

• OpenCV
• Eigen
• AprilTag

Contributing

Contributions are welcome! Please open an issue or submit a pull request for any improvements or bug fixes.