How to track an specific ArUco code with pan-tilt head example?

Question

Hello everyone.

I have been studying the tutorial, and the code for the following example:

http://jevois.org/tutorials/UserPanTilt.html

However, now I wonder how I can do to follow a single ArUco code, I mean, I would like to make the camera capable of following only the ArUco code corresponding to number 5, and ignore the rest of the codes that it presents.

Could you give me an idea of how to do this? or a related link?

Thanks a lot.

Answer 1

By default, the T2 x y messages do not contain the ID. But if you do

setpar serstyle Normal

Then you will get messages

N2 id x y w h

See http://jevois.org/doc/UserSerialStyle.html for details.

Then you need to modify the state machine in the arduino code to look for N2 first, then get the id, etc

Note that aruco ids start with a U and then a number. Once you have the id, you can ignore the ones you do not care about.