Hello everyone, I'm student of automation and robotics control who is interested image processing. Now I am working on my first project this is a drawing a robot controlled by vision. The robot is built on the basis of the arduino platform. If you are interested how this looks like photo below:
To make the method of drawing as accurate as possible I used stepper motors such as in 3D printer, but I don't have any feedback information about the robot's position in the real world. A camera connected to Raspberry Pi hangs on the ceiling and control the whole workingspace. So I thought that it would be a good idea to control it using the mutual position of the two ArUco markers on the table. First will be reference mark with coordinates (x,y) x = 0, y = 0 with mm or cm not pixcels! The second one will be on top of the robot and I also need an angle beetwen them in order to control robot properly.
I need something like this, but in mm or cm not pixcels https://www.youtube.com/watch?v=njab2bBps6U - but this person didn't share source code :/
By now I have prototype of robot and program in C++ which can detect Aruco markers, draw (x,y,z) axis on them, have coordinates of their corners and also cameta matrix, rotation and translation vector and distance coefficients.
Unfortunately I'm stuck in a place and I do not know how to go about it... I will be grateful for the restaurant advice and tips. Thanks in advance :)