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Working examples/tutorial for detection and pose estimation of ArUco markers with C++, including instructions to build and install OpenCV from source.
| Date | Stars |
|---|---|
| 2026-07-24 | 262 |
| 2026-07-25 | 262 |
| 2026-07-28 | 262 |
| 2026-07-30 | 262 |
| 2026-08-06 | 262 |
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# ArUco Markers
:bangbang: **IMPORTANT**:
This assumes you are using OpenCV4.
If you need to use OpenCV3, please checkout the `cv3` branch before installing dependencies.
As there are a few breaking changes in OpenCV libraries, some parts of the OpenCV4 codes are not compatible with OpenCV3.
<center>
<img src="./images/detected_cube.gif" width="400"/>
</center>
This repository includes codes that can be used to work with the augmented reality library, [ArUco](https://www.uco.es/investiga/grupos/ava/node/26).
A few programs in the repository, including the codes to create the markers and to calibrate the cameras, are copies of the examples included with the OpenCV libraries with minor changes.
Those are added here so that everything is in one place.
## Contents
1. [Installing OpenCV](#installing-opencv)
1. [Installing v4.5.3 (recommended)](#installing-v453-recommended)
1. [Installing the Latest](#installing-the-latest)
1. [Docker Build](#docker-build)
2. [Generating Markers](#generating-markers)
3. [Detecting the Markers](#detecting-the-markers)
4. [Camera Calibration](#camera-calibration)
5. [Pose Estimation](#pose-estimation)
6. [Draw a Cube](#draw-a-cube)
## Installing OpenCV
You can install the standalone ArUco library by downloading the source files which can be found in the above website and building and installing them.
But it is highly recommended to install ArUco library packed in OpenCV library.
The instruction below are for installing OpenCV with ArUco library.
These have been verified to work with Ubuntu 20.04.
If you are on a different OS, and/or prefer Docker, a dockerfile is included with this.
Please skip to the [Docker Build](#docker-build) section.
You can install OpenCV using the master branch of their repository, **OR** using the submodules added to this repository.
Building and installing OpenCV with the provided submodules guarantees that the other codes on this repository work without issues.
So it is recommended to install from the submodules.
### Installing v4.5.3 (recommended)
```
sudo apt install build-essential
sudo apt install cmake git libgtk2.0-dev pkg-config
# Image support
sudo apt install -y libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
# Video support
sudo apt install -y libavcodec-dev libavformat-dev libswscale-dev
cd <any directory you want to use>
git clone https://github.com/fdcl-gwu/aruco-markers.git
cd aruco-markers
git submodule update --init
cd libraries/opencv
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..
make -j4 # if you have more/less cores on your computer, substitute 4 with the number of cores
# use command "nproc" to find the number of cores
sudo make install
```
### Installing the Latest
```
sudo apt install build-essential
sudo apt install cmake git libgtk2.0-dev pkg-config
# Image support
sudo apt install -y libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
# Video support
sudo apt install -y libavcodec-dev libavformat-dev libswscale-dev
git clone https://github.com/opencv/opencv.git
git clone https://github.com/opencv/opencv_contrib.git
# If you need a specific version, you should checkout that version on
# both the repositories before executing the below commands.
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..
make -j4 # if you have more/less cores on your computer, substitute 4 with the number of cores
# use command "nproc" to find the number of cores
sudo make install
```
### Docker Build
Following instructions are for a Linux host.
Though Docker should work for any OS, the GUI setup used here is only has been tested on a Linux host.
If you are on Windows or Mac, you will need to install an X Server, for example [Xming](https://sourceforge.net/projects/xming/), to get the GUI to work.
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matched fp:c503f6c874ef979b, topic:opencv, desc:pose estimation, readme:pose estimation
matched fp:c503f6c874ef979b, topic:tutorial, desc:tutorial