PythonArucoOpenCV

This project detects ArUco markers using OpenCV's ArUco module.

Installation

Install required libraries using:

sudo pip install --break-system-packages -r requirements.txt
sudo apt install python3-picamera2
sudo apt install libcamera-apps

sudo nano /boot/firmware/config.txt
camera_auto_detect=0
dtoverlay=ov9281,cam0

Camera Calibration

Run calibrate_camera.py to calibrate your camera. Use a chessboard pattern and capture several frames for accurate calibration. The calibration file will be saved as data/camera_calibration.yml.

Marker Detection

Run detect_aruco.py with your calibration file:

python detect_aruco.py data/camera_calibration.yml

Markers should be configured in the script as per their size and positions.

Requirements

• OpenCV (4.x with ArUco support)
• NumPy

Raspi with OV9281

On Raspberry Pi 5, automatic camera detection must be disabled for the OV9281. Run:

sudo nano /boot/firmware/config.txt

Add (or edit) the following lines near the top:

camera_auto_detect=0 dtoverlay=ov9281,cam0

If you plugged into the other CSI connector (CAM1), use ,cam1 instead.

Then save and exit (Ctrl+O, Enter, Ctrl+X).

🔁 Step 3 – Reboot and check detection sudo reboot

Notes

• Press 'q' to quit any script.
• Update marker information in detect_aruco.py as needed.