aruco marker Usage notes

Configuration on the xaiver

Enviroment: opencv 4.1.1

1.git clone https://github.com/pal-robotics/aruco_ros

 

2.Error

2.1-cannot find opencv4

set opencv version_required 4 in the Cmakelists.txt

 

2.2-can not find <cv/opencv.h>

replaced with <opencv2/opencv.h>

 

2.2-not defined BGR2RGB

“CV_BGR2GRAY”: 未聲明的標識符

https://blog.csdn.net/tsyccnh/article/details/38920439

 

2.3-not defined CV_AA

#define CV_AA 16

 

2.4 not defined CV_FILLED

#define CV_FILLED -1

 

 

1.https://github.com/pal-robotics/aruco_ros

 

2.https://blog.csdn.net/qq_34935373/article/details/105098244#comments_12350804

 

3.https://chev.me/arucogen/

 

 

使用記錄：

 

 

1. 啓動ros

   • roscore

2. 啓動realsense相機

   • roslaunch realsense2_camera rs_camera.launch

3. 配置aruco_ros環境

   • 打開~/catkin_ws/

1. source install/setup.bash

4.啓動aruco_ros

• roslaunch aruco_ros single.launch markerId:=246 markerSize:=0.143 eye:="right"

 

5.在rviz下查看檢測結果。

 

6.查看姿態信息(use markerID setted)：

• rostopic echo /aruco_single/pose