ros-package for aruco304 released recently, by the end of 2017.
It detects all the markers that belong to a particular dictionary that has been specified in dict_type with their sizes and publish them in MarkerArray message and as tranformations tf
I suppose that all the markers have the same size which you can modify in the launch file in markerSizeMeters param. Now, if you have another marker(s) with different size then you have to specify that separately like so
<param name="marker_i" value="m_i" /> <!-- Marker_id=i Size meter-->
Where i with the id of the marker and m_i its size.
- Calibration:
You need to calibrate the camera and copy the generated file in /config folder in marker_publisher
- Install Aruco 3:
ArUco: a minimal library for Augmented Reality applications based on OpenCV
-
marker_publisher/Marker.msg
uint32 idx geometry_msgs/PoseWithCovariance pose -
marker_publisher/MarkerArray.msg
Header header marker_publisher/Marker[] markers
This is a first version
Much things to add (publish only if there's subscriber..etc)