Overview
A professional, robust toolkit for ArUco marker detection, pose estimation, and custom 3D model tracking in Python. Supports real-time 6DOF tracking with advanced features like Kalman filtering and optical flow.
Core Features
- Universal ArUco Detection – Seamless support for OpenCV 4.x and 3.x
- Camera Calibration – Single and dual-camera calibration workflows
- Pose Estimation – Real-time 6DOF pose tracking from markers
- Custom 3D Models – Dodecahedron and custom geometry tracking
- Multi-Marker Fusion – Improved accuracy from marker groups
- Performance Monitoring – Built-in FPS and error tracking
- Data Recording – Export pose data in JSON/CSV formats
Advanced Features
- Pose Refinement – Scipy-based optimization for sub-pixel accuracy
- Optical Flow Tracking – Maintain tracking between detections
- Kalman Filtering – Smooth pose trajectories
- CLI Interface – Professional command-line tools
Performance
- Detection: 50-100 FPS (single marker)
- Pose Estimation: 40-80 FPS
- Reprojection Error: < 1 pixel (calibrated camera)
- Tracking Latency: < 20ms