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ArUco marker detection
Aruco markers are squares with bit patterns which can easily be detected and their orientation can always be determined due to their non-symmetric pattern. These markers can be generated here.
Detection with OpenCV
The repository in the following link implements detection of aruco markers in opencv with a realsense camera, the authors are Pontus Rosqvist, Josefin Gustafsson, Markus Nagy and Martin Lyrå. This script can take the following command line arguments:
| Argument Name | Description |
|---|---|
| -d | Specify if the depth image should be used. True or False. |
| -p | Specify where the camera parameters are saved, if left empty the camera parameters are loaded from the camera. |
| -pause | Specify where the aruco markers and their size is saved. |
The aruco marker ids and their size should be specified in a text file of the following form:
<cli> id: size 10: 10 23: 20 34: 12 <\cli>
Detection with SkiROS
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