vision-based-localization

OS : Ubuntu 18.04.3 LTS
OpenCV version : 4.1.1
OpenGL version : 4.3

비전 기반 카메라 위치 추출 및 openGL 연동

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Required Library

• assimp

  $ sudo apt-get install libassimp-dev assimp-utils
  $ sudo apt-get install libxmu-dev libxi-dev

• glfw

  $ sudo apt-get install libglfw3-dev libglfw3

• glm

  $ sudo apt install libglm-dev

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1. ChArUco

1. make a charucoboard to calibrate
   g++ -o charucoboard charucoboard.cpp $(pkg-config opencv4 --cflags --libs)
   create board.jpg
2. calibrate
   $ g++ -o calibrate calibrate.cpp $(pkg-config opencv4 --cflags --libs)

   press 'c' 5 or more times. 'ESC' to finish and calibrate. create output.txt

2. Build

1. In "KnuMakerViewer", $ cmake CMakeLists.txt
2. create viewer by $ make

Error - 하드웨어 성능 차이

• GLSL 3.30 is not supported : In ./KnuMarkerViewer/shader/grid.vs, change like this.

  #version 130
  
  // ...
  in vec3 vertexPosition;
  in vec3 vertexColor;
  ...

  In ./KnuMarkerViewer/shader/grid.fs, change like this.

  #version 130
  ...

3. Run

1. $./viewer
   default - marker ID : 0, threadMode : 0(= false), camera ID : 0

2. $./viewer (marker ID)
$./viewer (marker ID) (threadMode)
$./viewer (marker ID) (threadMode) (cameara ID)

   -> 프레임 향상을 위해 threadMode 활성화 시 1 입력
   -> maker ID : imgui 메뉴로 통합 예정

4. Result

• 2019.11.12_ 삼각형, 사각형 오브젝트 추가

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