This project was built for the MediCSS summer school 2015-2017

The aim was to demo some features of VTK, OpenCV and ArUco.

1. bardGrabber uses OpenCV video source to grab a single frame and save to file. For now, camera calibration should be done externally.
2. bard performs the following:
3. launches a single QVTKWidget
4. creates an OpenCV VideoSource (e.g. from webcam).
5. displays semi-transparent video in foreground vtkRenderer
6. overlays vtkPolyData
7. loads references models (3D coordinates and point ID) of ArUco boards.
8. uses ArUco/OpenCV to track ArUco boards
9. provides a modified VTK camera that uses the calibrated intrinsic parameters
10. moves the VTK camera according to a registration transformation from 3D reference model coordinates to 2D coordinates of ArUco markers
11. tracks a single pointer, made using a separate ArUco marker
12. bardPivotCalibration does pivot calibration to create a pointer object. See Feuerstein 2008.
13. bardProcrustes does point based registration (Procrustes analysis). See Arun 1987.
14. bardCameraCalibration does intrinsic camera calibration, based on OpenCV. See OpenCV.

1. CMake version: 3.1+
2. Qt version: Tested with 4.8.7 or 5.4.2. If you go much newer then Qt 5.4.2 you will probably have to build Qt to ensure it has QtWebkitWidgets
3. Ensure qmake is on your PATH
4. Install git bash from http://git-scm.com

Currently tested on:

1. Mac OSX 10.10.5, Qt 4.8.7, CMake 3.1.2, clang 600.0.57
2. Windows, Qt 5.4.0, Visual Studio 2013.

Notes:

1. BUILD_SHARED_LIBS must be ON due to duplicate symbols in ArUco.
2. Supervisor should explain the SuperBuild (a.k.a MetaBuild) and BARD-build folder structure.
3. On Windows, StartVS_Debug.bat / StartVS_Release.bat in build folder should be used to launch Visual Studio.
4. On Linux and Mac, once compiled, you will probably have to set LD_LIBRARY_PATH or DYLD_LIBRARY_PATH (Mac) to find libraries such as ArUco, VTK, OpenCV and Qt.

git clone https://github.com/MattClarkson/BARD.git
mkdir BARD-SuperBuild-Debug
cd BARD-SuperBuild-Debug
ccmake ../BARD
(set some options, most likely for Qt)
make