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Questions tagged [aruco]

ArUco is a C++ library (based on OpenCV) for detection of squared planar markers. Use this tag for questions about using the library.

ArUco is a library that can detect a variety of markers in images and video. Intended for use with , it is based on and is available for a variety of platforms.

The author maintains a page that includes links to documentation and the download site on SourceForge.

329 questions
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Determining the angle in which to rotate the robot in respect to another object

I am currently working on a project where I need to determine whether a robot, with an ArUco marker on top of it, needs to rotate to a certain direction in order for it to point, with its front, towards a particular object, for which its centre…
Prefork
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How can we confirm that the intrinsic matrix is correct?

I performed camera calibration using aruco markers. Since the intrinsic matrix is K = [fx 0 cx; 0 fy cy; 0 0 1] and where fx = image_width/2 and fy = image_height/2. I performed the calibration twice and the results are: CASE 1 camera_matrix:…
Reddy2810
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ArUco Axis Swap while drawing 3dAxis

I'm currently trying to develop a ArUco cube detector for a project. The goal is to have a more stable and accurate pose estimation without using a large ArUco board. For this to work however, I need to know the orientation of each of the markers.…
Josiah Smith
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Create new ArUco marker

Is it possible to train a new marker for ArUco? For example in ARToolKit there is a possibility to create new marker patterns and train them using mk_patt.exe, which generates pattern file that can be used to detect the pattern. Is it possible to do…
SNS
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Setting up AruCo for Android Studio

I'm planing to create a simple Android App, that can detect markers and their relative position to each other. The basic App is running and the only thing that is missing is the actual marker detection. During my Internet research i found OpenCV for…
Steck84
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Bad axis calculation with arucos

I'm looking at examples of OpenCV with wrinkles and how to identify the position. It marks the lines well for me, but the orientation does not, the Z axis always goes to the upper left corner. This is my code: float markerLength = 0.2; // Set…
JMA
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What are the advantages of 7x7 ArUco markers compared to 4x4

I've been using ArUco markers for a while now but I've only ever used the 4x4 markers / dictionaries and I'm just wondering what are the advantages of using say 5x5,6x6 or 7x7? I would have assumed that the markers with bigger matrices would be able…
Ben
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ROS2-Gazebo: show image on the side of a cube

I am trying to display aruco marker on one (only one) side of the cube in Gazebo. I am using the following model, that is pasted in a world file: true
Steve Brown
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How to get Aruco pose estimation in OpenCV Python?

I'm following this tutorial on getting started with aruco markers. I want to get the pose estimation frame axis and display it ontop of the aruco marker like so: Here is the relevant code snippet from the tutorial: gray = cv2.cvtColor(frame,…
Brandon Pillay
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Minimize pose estimation inaccuracy with ChArUco board; what is the influence of gamma compression?

In researching ways to minimize pose estimation inaccuracies, I found this Stack Overflow answer which suggests that gamma-compression could be one factor to consider. My question is: what is the best way to avoid this? I am using an industrial…
sg65
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How to print charuco board with specific dimensions?

Im using the following code to create and save the charuco board. When I print the charuco.png, the square length and marker length are not equal to the expected value of 0.05m and 0.03m respectively d =…
vacky
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Wrong pose estimate when using Charuco on image with higher resolution

I'm working on a project where a high quality pose estimate is needed. I am therefore trying to get this pose estimate using OpenCV charuco board. Previously I have been using a Aruco board of size 2x2, but the pose estimate was not sufficient. I…
mikkelsen1996
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Aruco MarkerDetector undistorts image?

I am currently using the aruco library to track fiducial markers, and I use the detect() method of the MarkerDetector class. The detect() method takes as input the camera parameters (camera matrix, distortion coefs), the length of the marker and the…
Mohamed Adjel
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CV2 Distance with projectPoints

is it possible to calculate the distance between points which i created with cv2.projectPoints? I have two aruco markers and from both markers i have created (with cv2.projectPoints) points which are in a specific distance to the marker. Now i want…
Major23
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Detect Enclosed ArUco Marker Python

I am trying to use the Enclosed ArUco Marker in Python but it cannot be detected. Is there an implimentation of this ArUco Marker detection in python and how do i use it ? The reason why I want to use markers with with the enclosed corners is…
William Hoole
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