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Arucol Vert

License: LGPL v3 Build Status

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.