シンプルなapriltag検出。 Go2における検出サンプル付き
git clone https://github.com/AprilRobotics/apriltag.git
cd apriltag
mkdir build
cd build
cmake ..
make
sudo make install
Docking StationのGUI上で下記を行う:
mkdir build
cd build
cmake ..
make
./example_detect_gst
おおよそ問題ないことは確認しているが、細かいところで間違えている可能性あり(未検証)
これはroll, pitch, yawの計算順序に起因する問題で、ほぼ正面にある場合はあまり問題にならないが、マーカーが大きく傾いているなどの場合で、実際の状況との不一致が起こりうるかもしれない
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