/arucomarker

Object pose estimation w.r.t the manipulator base using ArUco marker (OpenCV)

Primary LanguagePythonMIT LicenseMIT

Aruco Tracker

HitCount Forked from: https://github.com/njanirudh/Aruco_Tracker/

Dependencies

  • Python 3.x
  • Numpy
  • OpenCV 3.3+
  • OpenCV 3.3+ Contrib modules

Scripts

  1. calib_image_taken.py : Move the checkedboard inside camera range and take 50 photos (for calibration)

  2. camera_calibration.py : opencv default calibration images and writes the value to calib_images/test.yaml.

  3. extract_calibration.py : This script shows how to open and extract the calibration values from a file.

  4. object_manipulator_pose_estimation.py : compute the difference of rotation & translation vectors between the manipulator base and object (between 2 aruco marker IDs).

References

  1. https://docs.opencv.org/3.4.0/d5/dae/tutorial_aruco_detection.html
  2. https://docs.opencv.org/3.4.3/dc/dbb/tutorial_py_calibration.html
  3. https://docs.opencv.org/3.1.0/d5/dae/tutorial_aruco_detection.html
  • Author : Phi Tien Hoang
  • E-mail : phitien@skku.edu
  • Organization : Robotory-SKKU-S.Korea