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Aruco Marker ROS demo

调用opencv实现 Aruco Marker的生成，检测及定位。 代码地址：https://gitee.com/nie_xun/aruco_test.git

使用

  1. 源码下载编译
cd catkin_ws/src
git clone https://gitee.com/nie_xun/aruco_test.git
cd ..
catkin_make
  1. Aruco Marker生成
roslaunch aruco_test aruco_marker_generator.launch

aruco_marker_generator.launch 中，根据需要设置以下参数。

<?xml version="1.0"?>
<launch>
  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find aruco_test)/config/log.conf"/>
  <node pkg="aruco_test" type="aruco_marker_generator" name="aruco_marker_generator" output="screen" >
    <param name="marker_save_dir" type="string" value="$(find aruco_test)/data/"/>
    <param name="marker_id" type="int" value="26"/>
    <param name="rowXcolumn" type="int" value="5"/>
    <param name="marker_size" type="int" value="250"/>
    <!--<param name="marker_DICT" type="string" value="DICT_ARUCO_ORIGINAL"/>-->
  </node>
</launch>
  1. Aruco Marker检测
#首先启动相机节点，在启动aruco_test
roslaunch aruco_test aruco_test.launch

结果如下图：目前不能检测DICT_ARUCO_ORIGINAL 在这里插入图片描述

aruco_test's People

Contributors

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