libkoki provides a marker based vision system, developed for use in the Student Robotics.

In order to build libkoki you'll need to have:

• A C compiler
• OpenCV headers
• YAML headers
• OpenGL Utility Toolkit

On Ubuntu 11.10 and 11.04, these can be installed using:

(sudo) $ apt-get install gcc libcv-dev libhighgui-dev libcvaux-dev libyaml-dev freeglut3-dev

To build and install the libkoki library to the system you must run the following commands:

$ make
$ sudo make install

libkoki contains a number of examples programs that help demonstrate how to use the API, as well as some of its capabilities. The examples can be built by running make on their directory, and are built as part of a default build.

In order to run the examples (without installing libkoki) you should run the shell script in the root of the repository, and then cd into the examples directory:

$ ./shell && cd examples

From there you can run any of examples by runnnig them as local programs. For instance:

$ ./realtime_gl

Note that some of them expect to be passed an image file as their first (and only) argument:

$ ./marker_info image_from_camera.jpg

If get an error that looks a bit like:

$ ./examples/realtime_quads
./examples/realtime_quads: error while loading shared libraries: libkoki.so: cannot open shared object file: No such file or directory

Then most likely you've forgotten to run ./shell.