Aruco Marker - Kraft2k/icebox-rover GitHub Wiki

Install

pip3 install opencv-contrib-python

If Error:

AttributeError: module 'cv2.aruco' has no attribute 'DetectorParameters_create'

pip3 install opencv-contrib-python==4.6.0.66

Fiducial slam, only ROS1

https://github.com/UbiquityRobotics/fiducials?tab=readme-ov-file

https://github.com/JMU-ROBOTICS-VIVA/ros2_aruco

ros2 run ros2_aruco aruco_node --ros-args --remap image_topic:=/color/image_raw --remap camera_info_topic:=/color/camera_info

i have python code:

def init(self): ... self.aruco_pose = None ...

def listener_callback(self, msg): self.aruco_pose = msg

when print(self.aruco_pose)

i have got in Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)

aruco_interfaces.msg.ArucoMarkers(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1703326493, nanosec=414563840), frame_id='camera_color_optical_frame'), marker_ids=[1], poses=[geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.04382051592484606, y=0.09037536474138382, z=1.0178971773234575), orientation=geometry_msgs.msg.Quaternion(x=-0.6940590427542259, y=-0.7169814474339044, z=-0.05760926130094859, w=0.030013700522091992))])

how can transform to ROS2 Coordinate System: (X: Forward, Y:Left, Z: Up)