#Apriltags nodelet
A port of the apriltags node to a nodelet container. Also pulls OpenCV install from cv_bridge to avoid compile problems on Jetson TK1
the original node: https://github.com/personalrobotics/apriltags
##Installation
Install dependencies:
$ sudo aptitude install libcgal-dev
Clone this repo into your catkin workspace and build. Note that this library conflicts with the apriltags node, so delete it first then clone this repo.
##Print some AprilTags
Images of the default tag family can be found in tags/36h11.ps
To open this postscript file:
$ sudo apt-get install gv
$ gv 36h11.ps
Alternatively you can download images of the tags from here:
https://april.eecs.umich.edu/wiki/index.php/AprilTags
There are *.tgz files for each family, including a *.ps file with one tag per page.
##Configuration
Use the same nodelet manager as your camera.
<node pkg="nodelet" type="nodelet" name="image_proc" args="load apriltags_nodelet/AprilNodelet camera_nodelet_manager">
<param name="default_tag_size" value="0.15" />
<param name="viewer" value="false" />
<param name="publish_detections_image" value="false" />
<param name="display_type" value="CUBE" />
<param name="marker_thickness" value="0.02" />
<rosparam param="tag_data">
"1":
size: 0.150
"2":
size: 0.100
"3":
size: 0.100
</rosparam>
<remap from="image" to="/camera/color/image_raw"/>
<remap from="camera_info" to="/camera/color/camera_info"/>
<remap from="marker_array" to="/apriltags/marker_array"/>
<remap from="detections" to="/apriltags/detections"/>
</node>