Fiducials with a depth camera


Can the aruco markers be used with a depth camera like a Kinect or Asus? What kind of camera calibration is needed?


If the depth camera has a RGB camera you can use that, but we don’t make any use of the depth information.

You will need to calibrate the RGB camera with a checkerboard.


Running command: “make -j8 -l8” in “/home/jackrabbot/catkin_ws/build/fiducials/fiducials”

make[1]: *** No rule to make target ‘fiducials/fiducials/all’. Stop.
Makefile:138: recipe for target ‘all’ failed
make: *** [all] Error 2
Invoking “make -j8 -l8” failed

I just failed to make the package.


Ok, that is not enough information to debug.

Please list every step you took. What did you run?


I did a catkin_make --pkg fiducials.

I also deleted the catkin and tried apt install then I get:

fiducial_slam (fiducial_slam/fiducial_slam)


ERROR: cannot launch node of type [fiducial_slam/fiducial_slam]: can’t locate node [fiducial_slam] in package [fiducial_slam]
No processes to monitor



Please tell me every command that you ran to build, as well as what you did for the apt install and what you did to launch.


I did a sudo apt install ros-kinetic-fiducials

rosdep update
$ roslaunch openni2_launch openni2.launch &
$ roslaunch fiducial_slam fiducial_slam.launch


Trying to get a ASUS depth camera to work. openni2 loads and I see images. Still need to calibrate the camera.


I got it working up to the point of camera calibration. When I try to run the Openni2 launch with my rgb calibration file it Barfs because it conflicts with the depth camera. With no calibration file fiduciary image topics are echoed, but nothing is being detected.