Great work with that pan/tilt head!
Yes, ArUco is great and is already supported by JeVois: http://jevois.org/moddoc/DemoArUco/modinfo.html
Two caveats that should be relatively easy to fix:
- the serial strings are not of the form T2D X Y like those of the ObjectTracker, this is because one may often want to detect several ArUco markers and get their ID in addition to location. You can either modify the Arduino code to parse the serial strings of the ArUco module, of change the ArUco module to output T2D strings.
- in principle, once you calibrate your camera, you can get the full 6D pose of the marker (3D position and 3D orientation). That code used to work in OpenCV 3.1 but something changed in OpenCV when upgrading to OpenCV 3.2 and we have not had time to check it out yet. So when you turn the showpose parameter in our JeVois ArUco module to true, you will get some errors about OpenCV not liking the objects we pass to the pose estimation algorithm, we need to better understand what the pose estimation now wants in OpenCV 3.2 so we can send it the correct data. Since it just uses an InputArraysOfArrays it is not clear to me what exactly should be inside that, and apparently it is not what it used to be with OpenC 3.1. Also, I am unclear about how exactly the calibration is supposed to work, it requires some measurements like marker size and spacing between markers but I am not sure exactly what those correspond to. See the section on recovering 3D pose at http://jevois.org/basedoc/classArUco.html#details