Execute the following commands to install required dependencies:
# Install CMake
sudo apt-get install cmake
# Install google-glog and gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# Install Eigen3
sudo apt-get install libeigen3-devDownload OpenCV version 3.4.16 from the official release page: OpenCV Releases
Execute the following command to install all necessary dependencies and build tools:
sudo apt install build-essential cmake git pkg-config libgtk-3-dev \
libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
gfortran openexr libatlas-base-dev python3-dev python3-numpy \
libtbb2 libtbb-dev libdc1394-22-dev libopenexr-dev \
libgstreamer-plugins-base1.0-dev libgstreamer1.0-devRun the following commands to compile the OpenCV source code:
mkdir ~/opencv_build && cd ~/opencv_build
mv ~/Downloads/opencv-3.4.16.zip ./
unzip opencv-3.4.16.zip
cd ~/opencv_build/opencv-3.4.16
mkdir -p build && cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
-D INSTALL_C_EXAMPLES=ON \
-D INSTALL_PYTHON_EXAMPLES=ON \
-D OPENCV_GENERATE_PKGCONFIG=ON \
-D BUILD_EXAMPLES=ON \
-D CMAKE_INSTALL_PREFIX=/usr/local ..Check the number of available CPU threads with:
nprocThen compile and install OpenCV using:
make -j4
sudo make installFollow these steps to implement the ROS package tag_detector:
- Use the provided ROS package
tag_detector. - Implement the project based on the point and position arrays calculated within images.
- Compile the
tag_detectorROS package after placing it appropriately within your ROS workspace (catkin_ws/src/).
cd ~/catkin_ws
catkin_make
source devel/setup.bash- Locate
bag_tag.launchintag_detector/launchandimages.bagintag_detector/bag. - Execute the package using:
roslaunch tag_detector bag_tag.launch- Review and understand all comments carefully in the source file located at:
tag_detector/src/tag_detector_node.cpp
Implement your project based on these instructions and the provided comments.
Note: The pose array and positions calculated within the provided image streams should be represented as (t, x, y, z, qx, qy, qz, qw).