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I no longer support this project.

See the installation notes from Andrew123098.

pywhycon Whycon tag with ID

Python wrapper for Whycon.

Whycon is precise, efficient and low-cost localization system

WhyCon is a version of a vision-based localization system that can be used with low-cost web cameras, and achieves millimiter precision with very high performance. The system is capable of efficient real-time detection and precise position estimation of several circular markers in a video stream. It can be used both off-line, as a source of ground-truth for robotics experiments, or on-line as a component of robotic systems that require real-time, precise position estimation. WhyCon is meant as an alternative to widely used and expensive localization systems. It is fully open-source. WhyCon-orig is WhyCon's original, minimalistic version that was supposed to be ROS and openCV independent.

Dependencies

  • OpenCV
  • Whycon Core library - see bellow
  • pkconfig - only for module building
  • pybind11 - only for module building
  • numpy

Install

You have to install the package from your active python environment.

Depending on your environment, you may need to enter something like

conda activate _your_python_environment_name_

or

workon _your_python_environment_name_.

Makefile

Compile and linking module to ./bin/whycon.so.

(It also compiles the Whycon Core library.)

make

setup.py

./setup.py install

(It calls the make [see above] and installs the whycon package in the current python environment.)

Pip

pip install whycon

Examples

Examples are in the usecases directory in the repo on GitHub.

show_help.py

It only tests that the module was installed successfully. It prints the help message of the module.

camera_test.py

Turn on the USB webcam and see what it sees. If Whycon-markers are found in the image, they will be highlighted and their found properties will be written to the console.

autocalibration_test.py

Automatic calibration of space transformation parameters by monitoring four WhyCon markers arranged in a square (with the configured length of its side).

web_camera.py

Auxiliary object, camera abstraction. (Searches for the first unshaded camera.)

window.py

Auxiliary object, Screen window abstraction.

Whycon core library as a submodule

The Whycon core library is a git submodule of this repository.

If you do not have a whycon_core directory in the root directory, enter

git submodule init
git submodule update

Whycon Core library

The package (pywhycon) is a wrapper of the Whycon core library.

For citations of articles, contacts to the original author, please see these pages. You will also find citations of projects that contributed to the development of the Whycon.