An attribute that recognizes Aruko markers. The theory is available here.

Defines the areas containing the aruko marker. If camera parameters and real size of the marker are provided, then localizes the marker in space.

Not implemented

Not implemented

• Name (string, must be set) attribute unique name
• Type (string, must be "Aruco") attribute type
• Weight (double, default: 1) attribute weight
• Probability (double, default: 0.75) not used in that attribute
• Contour (bool, default: true) Returns the contour of the attribute if true.

• Dict (int, default: 0) A value from 0 to 20 corresponding to the dictionary. See table below. If this parameter is outside the limits [0; 20] then it is considered equal to 0 (DICT_4X4_50).
• Lenght (double, default: 0) The actual length of the marker side in meters. If the value is greater than zero, then 3D-localization of markers is performed. DEPRICATED, soon will be removed please use SquareObjectDistance instead.

An example is shown below, indicating a specific marker and any of the vocabulary.

<AttributeLib>
    
    <Attribute Name="Aruco4" Type="Aruco" Dict="0"/>
  
    <Attribute Name="Aruco6" Type="Aruco" Dict="8"/>

    <Attribute Name="ID13" Type="ExtractedInfoID" field="Aruco4:marker_id" allowed="13"/>
    
    <Attribute Name="Len1" Type="SquareObjectDistance" length="0.082"/>
    
    <Attribute Name="Len2" Type="SquareObjectDistance" length="0.125"/>

</AttributeLib>

<SimpleObjectBase>    
    
    <SimpleObject Name="Aruco6" ID="41">              
        <Attribute Type="Detect">Aruco6</Attribute>            
        <Attribute Type="Extract">Len2</Attribute>
    </SimpleObject>  
   
    <SimpleObject Name="Aruco4-13" ID="40">              
        <Attribute Type="Detect">Aruco4-13</Attribute>   
        <Attribute Type="Check">ID13</Atribute>   
        <Attribute Type="Extract">Len1</Attribute>
    </SimpleObject>         

</SimpleObjectBase>

(Image was obtained with previous version of system) As you can see in the image above, only the marker with id 13 was recognized from the 4x4 dictionary. With the known real dimensions of the marker, the system is able to determine the distance to the object and its rotation.