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PROCEDURE.md

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How to compile MATLAB_AprilTag3 - The MEX wrapper for Linux

STEP 1: Compile AprilTag library

  1. Install the Machine Vision Toolbox (MVTB) by opening MATLAB_AprilTag3 GitHub's file MVTB-4.3.mltbx from MATLAB GUI, or download the latest version at:
    https://petercorke.com/download/28/mvtb/1109/mvtb-4-3.mltbx
  2. Create auxiliary environmental variables from command line: 
    MLTBX_DIR="$HOME/Documents/MATLAB/Add-Ons/Toolboxes"
MVTB="$MLTBX_DIR/Machine Vision Toolbox for MATLAB"
MVTB_MEX="$MVTB/vision/mex"
MVTB_APRILTAG="$MVTB_MEX/apriltag"
  3. Download MATLAB_AprilTag3 GitHub's file AprilTag3.tar.gz (the AprilTag3 source code) and uncompress it, or download the latest version at:
    https://codeload.github.com/AprilRobotics/apriltags/zip/master
  4. Rename the uncompressed directory to apriltag to match the wrapper path.
  5. Copy latter apriltag directory to MVTB_MEX by running from command line: 
    cp -pr apriltag "$MVTB_MEX"
  6. Download MATLAB_AprilTag3 GitHub's directory apriltag at Machine Vision Toolbox for MATLAB/vision/mex/apriltag/ and copy it into MVTB_MEX directory: 
    cp -pr apriltag "$MVTB_MEX"
  7. Compile the AprilTag library: 
    cd "$MVTB_APRILTAG"
make
sudo make install

STEP 2: Compile MATLAB_AprilTag3

  1. Download MATLAB_AprilTag3 GitHub's directory Machine Vision Toolbox for MATLAB and copy it into MLTBX_DIR directory: 
    cp -pr "Machine Vision Toolbox for MATLAB" "$MLTBX_DIR"
  2. Compile the MEX file: 
    cd "$MVTB_MEX"
mex apriltags.c -I"$MVTB_APRILTAG" -I"$MVTB_APRILTAG"/common -L"$MVTB_APRILTAG" -lapriltag
  3. Compile the remaining MVTB libraries from MATLAB's command line: 
    make

STEP 3: Render your tags with appropriate scale (e.g. 3 to 5 inches)

N.B.: MATLAB_AprilTag3 detector only works with "tag36h11" tag family!

  1. Download and uncompress MATLAB_AprilTag3 GitHub's file tag36h11.tar.gz

    gunzip -dc tag36h11.tar.gz | tar xvf -

  2. Open a PNG tag file using an appropriate image editor, e.g., Inkscape.

  3. Choose the tag dimensions before printing.

  4. Enjoy! =})