稳定可靠的视觉基准系统

安装

  • git clone https://github.com/AprilRobotics/apriltag.git
  • cd apriltag
  • cmake -B build -DCMAKE_BUILD_TYPE=Release
  • sudo cmake --build build --target install
  • make -j
  • sudo make install

修改（重要）

  • sudo nano /usr/local/share/apriltag/cmake/apriltagTargets-release.cmake
  • 在原文件的 set(CMAKE_IMPORT_FILE_VERSION 1) 后面添加
        set(apriltag_INCLUDE_DIR "/usr/local/include/apriltag")
    find_library(apriltag_LIBRARY1 NAMES libapriltag.so PATHS "/usr/local/lib" ) 
    find_library(apriltag_LIBRARY2 NAMES libapriltag.so.3 PATHS "/usr/local/lib" ) 
    find_library(apriltag_LIBRARY3 NAMES libapriltag.so.3.1.0 PATHS "/usr/local/lib" ) 
    set(apriltag_LIBS ${apriltag_LIBRARY1}
        ${apriltag_LIBRARY2}
    ${apriltag_LIBRARY3})

测试

  • 新建一个目录，其结构如下：
    .
├── CMakeLists.txt
└── main.cpp
  • CMakeLists.txt
    cmake_minimum_required(VERSION 3.10)

project(test_code CXX)

add_executable(${PROJECT_NAME}
    "main.cpp"
)

find_package(OpenCV 4 REQUIRED)
find_package(apriltag REQUIRED)

target_include_directories(${PROJECT_NAME}
    PRIVATE
        ${OpenCV_INCLUDE_DIRS}
        ${apriltag_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME}
    PRIVATE
        ${OpenCV_LIBS} 
        apriltag
)
  • main.cpp
    #include <iostream>
#include <opencv2/opencv.hpp>
#include <apriltag.h>
#include <tag36h11.h>

using namespace std;
using namespace cv;


int main() {
    // 初始化 AprilTag 检测器
    apriltag_family_t *tf = tag36h11_create();
    apriltag_detector_t *td = apriltag_detector_create();
    apriltag_detector_add_family(td, tf);

    VideoCapture cap(0);
    cap.set(cv::CAP_PROP_FRAME_WIDTH, 640);
    cap.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
    cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'));

    while (1) 
    {
        Mat frame, frame_gray;
        bool isRead = cap.read(frame);
        if (!isRead) { break; }
        cvtColor(frame, frame_gray, COLOR_BGR2GRAY);

        // 检测标签
        image_u8_t im = {.width = frame_gray.cols, .height = frame_gray.rows, .stride = frame_gray.cols, .buf = frame_gray.data};
        zarray_t *detections = apriltag_detector_detect(td, &im);

        // 显示检测结果
        for (int i = 0; i < zarray_size(detections); i++) {
            apriltag_detection_t *det;
            zarray_get(detections, i, &det);

            putText(frame, to_string(det->id), Point(det->c[0],det->c[1]), FONT_HERSHEY_SIMPLEX, 1.0, Scalar(0, 255, 0), 1);
            
            for (int i = 0; i < 4; ++i) 
            {
                putText(frame, to_string(i), Point(det->p[i][0],det->p[i][1]), FONT_HERSHEY_SIMPLEX, 1.0, Scalar(255, 0, 0), 2);
                int next = (i + 1) % 4;
                cv::line(frame, Point(det->p[i][0],det->p[i][1]), Point(det->p[next][0],det->p[next][1]), cv::Scalar(0, 255, 0), 2);
            }
            apriltag_detection_destroy(det);
        }

        imshow("frame", frame);
        waitKey(30);
        zarray_destroy(detections);
    }

    // 循环结束后销毁检测器和家族
    apriltag_detector_destroy(td);
    tag36h11_destroy(tf);
    return 0;
}
  • 在根目录下mkdir build && cd build && cmake .. && make，最后./test_code即可
  • res