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========= 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