martiege / ros_fiducials

ROS wrapper package for fiducial detectors, defining a common message API for detecting and publishing fiducial markers

ros_fiducial

Unofficial ROS package creating a common message structure for multiple fiducial marker detectors. Currently supporting the AprilTag and ArUco detectors.

Getting started

See fiducial_conversions, fiducial_detectors, and fiducial_msgs for their respective Getting started-sections.

TODOs

• Add functions for converting the detection arrays to easier to use structures.
• Create better build structure / CMakeList for the detectors. It is currently very dependent on the OpenCV version, Python version and Python libraries.
• Related to both issues above: figure out best way to include conversions to data structures from other libraries such as Eigen, OpenCV, etc. without demanding these to be installed. Best probably one package for each library?
• Another also kinda related, should the conversions be their own package or part of the fiducial_msgs package? Probably not, so clean the fiducial_msgs for the packages included that were intended for the conversion.
• Add whitelist / blacklist functionality to the detectors.
• Add other detectors.
• Figure out better way of exporting other results from the detections than the current method, and include this for the ArUco detector.
• Remove hardcoded "bgr8" encoding from the ArUco detector.
• Further generalize fiducial_detector.hpp?
• Complete parameter descriptions
• Is the namespace too convoluted? Is it dishonest or confusing to use the ros_-prefix when this is not official? Changed now.