<<<<<<< HEAD ##-------A example or a test using webcam to detect apriltags------------ ##--------------Usage--------------------

Just launch the .launch file

   $ roslaunch uvc_apriltags_test uvc_apriltags.launch

To change the camera device and config, just edit the launch file and yaml file.

More Usage? Please turn to the wiki pages of this repository.

##--------------files -------------------- Include three documents:

(1)apriltags_ros

In this document exists a base apriltag lib and two version of apriltags_ros,now is using ethz_apriltag2

To change the blackborder(default is 1),edit

Exmple_of_apriltasgs_from_UVC/apriltags_ros/ethz_apriltag2/include/AprilTags/TagDetector.h

(2)camera_umd

This is an old_uvc camera driver of ros_package

(3)uvc_tast_main

This contain a launch file and some init parameter to run the test.

##--------------about dependengces--------------------

Before compling,you shoule add(or install) the dependences as follow:

1.A old ros package: uvc_camera

see wiki:http://wiki.ros.org/uvc_camera

source git: https://github.com/ktossell/camera_umd

2.Opencv and image_relate dependengce:

image_common

image_transport

3.Apriltags_ros (this package include apriltags C++ libraries,that is the leading-role of our test!)

http://wiki.ros.org/apriltags_ros----The source code (apriltags C++ libraries)

see http://people.csail.mit.edu/kaess/apriltags/

----Infact, the auther of aprtltags is Ed Olson, code Apriltags in java.

see https://april.eecs.umich.edu/wiki/index.php/Download_and_Installation

https://april.eecs.umich.edu/wiki/index.php/Main_Page

https://april.eecs.umich.edu/wiki/index.php/AprilTags

----Another reference wiki is tekkotsu, see http://wiki.tekkotsu.org/index.php/AprilTags

4.ethz_apriltag2(This is a version of Apriltags_ros edit by ETHZ_ASL team, from kalib)

Notice: This test is using this version. To change normal Apriltags_ros, edit the depends of CMakeLists.txt and package.xml before compiling.

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