ArucoGroundTruthLibrary

C++ library abstracting ArUco markers and boards as BayesFilters measurement models.

Dependencies

• BayesFilters
• Eigen 3
• OpenCV
• RobotsIO

Installation

git clone https://github.com/xenvre/aruco-ground-truth-library.git
cd aruco-ground-truth-library
mkdir build
cd build
cmake -DCMAKE_PREFIX_PATH=<installation_path> ../
make install

In order to use the library within a CMake project

find_package(ArucoGroundTruthLibrary REQUIRED)
(...)
target_link_libraries(... ArucoGroundTruthLibrary::ArucoGroundTruthLibrary ...)

Classes

• ArucoMeasurement: base class implementing a BayesFilters::MeasurementModel that provides the pose of the camera and the pose of the marker/board with respect to the camera;
• ArucoMarkerMeasurement: an ArucoMeasurement from images containing a marker;
• ArucoBoardMeasurement: an ArucoMeasurement from images containing a board (offsets in the ArUco dictionary are supported in order to detect multiple boards at the same time);
• ReverseLinkMeasurement: a base class implementing a BayesFilters::MeasurementModel and accepting an ArucoMeasurement that relates the pose of the marker with the pose of a link of interest;
• ThreePointReverseLinkMeasurement: a class inheriting from ReverseLinkMeasurement that accepts three points (origin, tip of x and y axis) describing the plane of the marker/board;