Robot arm controlled with Intel depth camera and OpenCV

Just a very old small project I did for work exploring the use of an Intel RealSense depth camera and Aruco tags for inverse kinematics. The system detects the tags position, calculates the inverse kinematics of the arm to reach the tag with MoveIt and uses ROS to send servo commands to the arm's Arduino controller. Clipboard is an Aruco tag. Not super functional but proof of concept. Bottom right video is not in sync due to how I had recorded it. Its off by quite a bit.