Apriltag源码C版本编译以及运行

AprilTag官网：https://april.eecs.umich.edu/software/apriltag.html?nsukey=6yUi4Iya263%2F2CEQLJ8uEkE%2FYP3b0h6Zb8PEzmhDhylkW2IAJ%2ByRA%2F92zKk9GTGqE5MBJsQ98FJpYw9BxT1A%2F4Yio0lpqjFwHMoXlxXPA5s1mJH0z%2Br7pQNP2DCIWh82diapY3LZzeNxpLGGaBR789MOpeqsJB5rQJgM3DZlsIT%2BiDdfkpBrZ7XDam1VRYgn

下载源码，解压得到如下的文件：

.├── apriltag.c├── apriltag.h├── apriltag_math.h├── apriltag.pc.in├── apriltag_quad_thresh.c├── common  # ******************这是文件夹├── example # ******************这是文件夹├── install.sh├── Makefile├── README├── tag16h5.c├── tag16h5.h├── tag25h7.c├── tag25h7.h├── tag25h9.c├── tag25h9.h├── tag36artoolkit.c├── tag36artoolkit.h├── tag36h10.c├── tag36h10.h├── tag36h11.c└── tag36h11.h

新建一个目录，在该目录下建立如下的结构：

├── apriltag│   ├── apriltag.c│   ├── apriltag.h│   ├── apriltag_math.h│   ├── apriltag_quad_thresh.c│   ├── CMakeLists.txt│   ├── CMakeLists.txt~│   ├── common # ******************这是文件夹│   ├── tag16h5.c│   ├── tag16h5.h│   ├── tag25h7.c│   ├── tag25h7.h│   ├── tag25h9.c│   ├── tag25h9.h│   ├── tag36artoolkit.c│   ├── tag36artoolkit.h│   ├── tag36h10.c│   ├── tag36h10.h│   ├── tag36h11.c│   └── tag36h11.h├── cbiuld # ******************这是文件夹├── CMakeLists.txt└── opencv_demo.cpp

根目录下的CMakeLists.txt内容如下：

cmake_minimum_required(VERSION 2.8.3)project(apriltag)#add_definitions(-std=c99 -Wl --no-as-needed)add_compile_options(-std=c99)set(CMAKE_SHARED_LINKER_FLAGS "-Wl --no-as-needed")find_package(OpenCV REQUIRED)include_directories(${OpenCV_INCLUDE_DIRS})find_package (Threads)add_subdirectory(apriltag)aux_source_directory(. srcs)add_executable(solve_tag ${srcs})target_link_libraries(solve_tag     apriltag    ${OpenCV_LIBS}    ${CMAKE_THREAD_LIBS_INIT})

下一级的CMakeLists.txt内容如下：

cmake_minimum_required(VERSION 2.8)add_compile_options(-std=c99)set(CMAKE_SHARED_LINKER_FLAGS "-Wl --no-as-needed")aux_source_directory(common common_src)aux_source_directory(. apriltag_src)add_library(apriltag STATIC ${common_src} ${apriltag_src})

编译

注意，将所有#include <common/*.h>中的common/删除
之后进入cbuild文件夹，

cmake ..make./solve_tag