aruco_detect aruco_detect

This node finds aruco markers in images stream and publishes their vertices (corner points) and estimates 3D transforms from the camera to the fiducials. It is based on the Aruco contributed module to OpenCV. It is an alternative to fiducial_detect

Documentation is in the ROS wiki page.

Changelog for package aruco_detect

0.12.0 (2021-07-30)

• Deps python2 -> python3
• Updated marker generation script to work with Python3 (#254)
  • Updated create marker script for python3
  • Updated to use Python 3 cairosvg module
  • Added argument to change fiducial length and scaling the marker based on it
  • Change to Python 3
  • Fixed string format
  • Changed argument name for passing in fiducial length
  • Updated marker generation script to work with Python3
  • Added a comment about why marker_gen is a separate module

  * gitignore bagfiles, we don't want them to be checked in generally Co-authored-by: Ajith Thomas <<ajiththomas152@gmail.com>>

• Use newer constant for imread in aruco tests
• Add missing dependencies on transport plugins
• Merge pull request #236 from UbiquityRobotics/bugfix-aruco-detect-relative-topics fixed aruco detect remaps to relative topic names to suport namespaces
• Dynamic Reconfigure rosparam integration completed
• Splitted aruco vertices detection and pose estimation.
• Splitted detection and pose estimation.
• Make fiducial_tf_publish a param
• Moved fiducial tf publishing to aruco_detect node
• Add mutex to image callback
• Public node handle instead of leading / for namespace support This allows someone to start the node in a namespace and have all the topics remapped into the namespace automatically. Parameters are still kept in a private node handle so they come up in aruco_detect/* Fixes: https://github.com/UbiquityRobotics/fiducials/issues/183
• Fix fiducial_len_override bug (#180)
• Make ignored fiducials dynamically reconfigurable (#170)
  • Make ignored fiducials dynamically reconfigurable
• Contributors: Caio Amaral, Canberk S. Gurel, Janez Cimerman, Jim Vaughan, MoffKalast, Rohan Agrawal, Teodor, Vid Rijavec, canberkgurel

0.11.0 (2019-05-09)

• Compatibilty with Melodic

  • remove opencv3 dependancy, opencv3 is no longer a package in melodic, so we use cv_bridge
  • Fix build on OpenCV 3.2

• Import empy with full path to avoid pip conflict
• Use subprocess for cairosvg to avoid lack of python2 support
• call genMarker with correct arguments with no joblib
• Check ignoreID's in TF publishing
• Added topic that enables/disables Aruco detections
• Added rosdeps for cairo and joblib
• Add params for determining weighting of observations; prevent compiler warnings
• add cli argument for paper size to create markers
• Contributors: Jack Kilian, Jim Vaughan, Rohan Agrawal, Tim Übelhör, jack

0.10.0 (2018-10-13)

• Dramatically speed up create_markers using cairosvg and joblib
• Overhaul aruco marker generation (calculate svg values)
• Ddd new 2 tag test image
• Add params to ignore some fiducial Ids and override sizes
• Contributors: Jim Vaughan, Rohan Agrawal

0.9.0 (2018-09-12)

0.8.4 (2018-08-26)

• Use publish_images param as intended (#106)
• Update README.md
• Contributors: Jim Vaughan

0.8.3 (2018-02-26)

• Merge pull request #100 from alex-gee/kinetic-devel
• Add dictionary parameter to launch file
• Contributors: Alexander Gutenkunst, Rohan Agrawal

0.8.2 (2018-02-14)

0.8.1 (2018-01-21)

0.8.0 (2018-01-14)

0.7.5 (2017-12-06)

• Move create_markers.py to share directory
• Make corner detection on by default.
• Contributors: Jim Vaughan

0.7.4 (2017-11-09)

• Add std=-c++-11 to build.
• Fixes for OpenCV 3.3.1
• handle invalid cameraInfo message in aruco_detect
• Added (multi) pose estimation to fiducial_slam (disabled by default)
• Contributors: Jim Vaughan, Rohan Agrawal

0.7.3 (2017-07-16)

0.7.2 (2017-05-24)

0.7.1 (2017-05-22)

0.7.0 (2017-05-21)

• Fix dependencies
• Added image and object error calculation. Renamed K and dist
• Moved all service and message definitions to fiducial_msgs
• Update copyright on aruco detect C++
• Contributors: Jim Vaughan, Rohan Agrawal

0.6.1 (2017-02-06)

• Fix dynamic_reconfigure build deps
• Contributors: Jim Vaughan

0.6.0 (2017-02-04)

• moved documentation to ROS wiki
• added utilities to generate PDF files of fiducials
• Expose aruco detection parameters
• Publish one set of fiducial_vertices per image
• Parameterized the dictionary used
• Contributors: Jim Vaughan, Rohan Agrawal

0.5.1 (2016-12-28)

• Install aruco_detect launch dir
• Use raw transport for aruco test
• Contributors: Rohan Agrawal