True Value Setup for Aerial Robotics Kharagpur
##April tags
Detects 2D fiducial markers (april tags) from ros image stream and produces id, location and orientation of the tags. This ros node wraps the C++ April Tag library written by Michael Kaess and Hordur Johannson. April tags were developed by Edwin Olson.
More on april tags here: http://april.eecs.umich.edu/wiki/index.php/AprilTags
April Tags C++ library: http://people.csail.mit.edu/kaess/apriltags/
Output:
AprilTagList which is a list of AprilTag:
uint32 id
uint32 hamming_distance
float64 distance
float64 x
float64 y
float64 z
float64 yaw
float64 pitch
float64 roll
distance,x,y,z are in cms. z is depth away from camera. x is horizontal with camera right as positive.
Depends on: libeigen3-dev