custom-tilt5-localizer

Localization module for Tilt5 project

Aruco

Average FPS using webcam was 183.698 is latest run. This includes drawing detections and axis of the marker.

Instructions

Build the render library

1. cd custom-tilt5-localizer/renderLib
2. mkdir build
3. cd build
4. cmake ..
5. make

Build the project

1. cd custom-tilt5-localizer
2. mkdir build
3. cd build
4. cmake ..
5. make
6. Create an aruco marker running ./Create_marker.o
7. Start detecting arucos in you camera with ./Aruco.o.
8. Stop with Esc and read the average from terminal.

By default Aruco.o tries to use input 0 (webcam). Change this to 1 in main.cpp if you want to use another camera.

Currently projections of points outside the aruco plane are not correct due to default camera intrinsics. A camera calibration procedure should be added.