ARUCO

ui

The ARUCO node detects ArUco / AprilTag fiducial markers in an image stream and outputs the pose (position and rotation) of each configured marker board. It is a transformer: it consumes images from a camera node (e.g. GENICAM) and produces pose data.

Usage

Set the node’s source to the camera node to analyze, then configure the marker dictionary and one or more boards.

Properties

  • Dictionary: The ArUco marker dictionary the markers were generated from (for example a 6x6 dictionary). This must match the printed markers.

  • Boards: A list of marker boards to detect. Each board describes its layout (rows, columns, marker size and separation), the marker ids it contains, and an optional position/orientation offset so the reported pose is expressed in your chosen coordinate frame.

Accurate poses require a calibrated camera; use the DISTORTION node to rectify the image stream first if your camera has significant lens distortion.