Arucol Vert

An executable to find the position of aruco markers relative to another one. Also includes a camera calibration executable.

Installation

1. Install dependencies (a valid c++ toolchain, cmake and opencv)

   sudo apt-get install build-essential cmake libopencv-dev

2. Clone and compile

   git clone https://github.com/rustyducks/arucol-vert.git
   cd arucol-vert && mkdir build && cd build
   cmake ..
   make -j8

Usage

• For camera calibration:

  1. Print an opencv chessboard.
  2. Update the config file in config/calibration_params.xml
  3. Run the executable ./arucol_vert_calib ../config/calibration_params.xml
  4. Follow the instructions (press g and move the chessboard in front of the camera)
  5. Wait for it. It creates a file under config/out_camera_data.xml (as defined in calibration_params.xml).

• For normal use:

  1. Place the camera in a stable position. Make sure it can view the central marker.
  2. Run the executable ./arucol_vert CAMERA_CONFIG_FILE GENERAL_CONFIG_FILE [WITH_DISPLAY=0]. (eg. ./arucol_vert ../config/out_camera_data.xml ../config/general_params.xml 1)
  3. Enjoy. Note: the detection will only start if the central marker has been seen at least one.