Python wrapper for Whycon.
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.
- OpenCV
- Whycon Core library - see bellow
- pkconfig - only for module building
- pybind11 - only for module building
- numpy
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_.
Compile and linking module to ./bin/whycon.so.
(It also compiles the Whycon Core library.)
make
./setup.py install
(It calls the make [see above] and installs the whycon package in the current python environment.)
pip install whycon
Examples are in the usecases directory in the repo on GitHub.
It only tests that the module was installed successfully. It prints the help message of the module.
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.
Automatic calibration of space transformation parameters by monitoring four WhyCon markers arranged in a square (with the configured length of its side).
Auxiliary object, camera abstraction. (Searches for the first unshaded camera.)
Auxiliary object, Screen window abstraction.
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
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.