ArUcoROSpy

Detect ArUco Marker and visualize its pose using IntelRealsense or Azure Kinect camera and python

Detecting 36 ArUco Markers at once

Architecture

Prerequisites (Installations and Dependencies)

• Intel Realsense

  ROS Releases

  Realsense SDK - for realsense-viewer

• Azure Kinect

  Azure Kinect ROS driver

cv_bridge

Dependencies info

• Intel Realsense ROS
• Azure Kinect ROS Topic
• Opencv ArUco
• cv_bridge

Running the Code

1. Run the camera code in ROS

• Intel Realsense ROS

  Run the built-in Intel Realsense program to see the camera's current state

  realsense-viewer

  Run the launch files

  roslaunch realsense2_camera rs_camera.launch

• Azure Kinect ROS

  Run the built-in Azure Kinect program to see the camera's current state

  k4aviewer

  Run the launch files

  roslaunch azure_kinect_ros_driver kinect_rgbd.launch

2. Run ArucoDetect.py

python /path/to/your/python/script/arucodetect.py