ROS package to detect aruco boards and markers in images, estimating their pose. Written in C++ and Python.
This package depends on OpenCV and the ArUCO library bundled with it. You might want to build OpenCV and opencv-contrib from source, since fiducial marker detection is somewhat dodgy in OpenCV<3.2, and OpenCV 3.2 is bundled with Ubuntu Bionic and ROS Melodic.
export OpenCV_DIR=your/opencv/build/or/install/path
catkin build -DOpenCV_DIR=${OpenCV_DIR}
or
export OpenCV_DIR=your/opencv/build/or/install/path
catkin_make -DOpenCV_DIR=${OpenCV_DIR}
to build the workspace. On Ubuntu Bionic I had to compile from source the dependencies of this package that also rely on OpenCV:
common_msgs (jade-devel)
image_common (hydro-devel)
vision_opencv (melodic)
Once a camera is plugged in your rig and its node is running, simply use the roslaunch file provided. Some roslaunch parameters you might find useful:
| Parameter | Effect |
|---|---|
camera_info_topic |
The node will subscribe to this topic to source camera parameters |
camera_image_topic |
The node will subscribe to this topic to source input images |
show_debug_img |
Shows the output image in a window |
publish_single_markers |
Enable single marker detection |
detection_rate |
Time (second) between marker detections |
board_config_file |
Config file for the marker board |
single_markers_config_file |
Config file for the single markers |
You can change the configuration of the marker board being sought in the cfg/board_config.yaml file. Same goes for individual markers.
The package also contains a script to generate fiducial markers.
The node will broadcast a tf frame named aruco_board (the board reference frame) and one named graspa_board (the same frame, shifted on the bottom right of the board).
| Topic | Explanation |
|---|---|
/aruco_board_detector/board_pose |
The marker board pose (stamped with the camera reference frame) |
/aruco_board_detector/debug_image |
The output image, i.e. the input image with markers drawn on it |
/aruco_board_detector/marker_data |
Stamped 6D pose of every single marker detected, with ID |
| Topic | Explanation |
|---|---|
camera_info_topic |
Camera parameters topic |
camera_image_topic |
Camera image topic |
roscore
roslaunch realsense2_camera rs_rgbd.launch
roslaunch aruco_board_detect aruco_board_detect.launch publish_single_markers:=true show_debug_img:=true
The following command can be used to generate a 400x400 px marker (ID 44) with a 100 px white border (quiet zone) and a 50 px black border. DICT_4X4_50 is the dictionary, as defined by the OpenCV headers.
python `rospack find aruco_board_detect`/scripts/generate_aruco.py -o marker_44.png -w 100 -b 50 -s 400 -i 44 -t DICT_4X4_50
