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ros-perception / image_pipeline

An image processing pipeline for ROS.
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add ArUco and ChArUco board calibration as an option #191

Closed ezavesky closed 4 years ago

ezavesky commented 8 years ago

OpenCV3 has introduced a free-to-use powerful AR marker called ArUco. Also introduced in this code set is the ability to calculate a pose or calibration set along with a tutorial. The current board calibration works well enough, but in future generations (like when CV3 is more standard), there might be large community benefit to get this working properly.

If the time comes up, I might consider it in the future, but hopes are that this issue might tease out other volunteers in the mean time.

(some inline links in case the opencv or author page go away in the future) detect_board_charuco.cpp inside the module samples folder of opencv 3

charucoboard example

vrabaud commented 8 years ago

+1 Well, OpenCV3 is the default in Kinetic so have fun :)

ezavesky commented 8 years ago

That's great news. We're using one of those environments still based on indigo; do you know if that branch's version of these modules play as well with OCV3 or would some back-pulls be required?

vrabaud commented 8 years ago

It's easy to write code that works with OpenCV2 and 3, cf http://wiki.ros.org/opencv3 but I won't have time for that. OpenCV3 is packaged in Indigo but not the default, so you will have to recompile your whole ROS stacks to use OpenCV3.

JStech commented 4 years ago

This issue looks stale, but I'd like to have ChArUco board support. I'll see if I can get it working.

SteveMacenski commented 4 years ago

@JStech sounds good! Its mostly stale because no one did it. If it works and it was done relatively cleanly, no issue merging it.

ezavesky commented 4 years ago

Thanks folks, sorry that I'm not in that project space to help any more. That said it still looks like a slick feature for calibration. +1 @JStech

JWhitleyWork commented 4 years ago

Looks like @JStech took care of adding this feature to melodic and noetic. Thanks for that! We'll handle updating ROS2 branches with this feature as part of #449.