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Hello. I am running ROS melodic on Ubuntu 18.04. There is an issue with the package when i run the "make" command.

1. First of all, i downloaded the package "whycon-master" and placed it inside the "src" folder of catkin_ws directory.
2. Then i build the workspace by executing the catkin_make command. I do not get any errors here.
3. Then, i go into the whycon-master folder and created a new "build folder"; Then executed the command
   cmake -DDISABLE_ROS=ON ..
4. After that, i run the make command and this is where i am getting an error.

(There are the directions mentioned as well).

I have opencv3 working properly. Furthere more i have installed all the dependencies as mentioned.

I have enclosed a screenshot of the error, please let me know why i am getting this.

Thank you so much for your time.

TBD

I've been following the tutorial for Whycon and am attempting to set up a 2D user-defined frame. I can get information about the axes by using $roslaunch set_axis.launch and it saves it to whycon_transforms.yml. Does that mean the axes are set? Because the next step says $rosservice call /set_axis/set but when I use rosservice list when all my nodes are running the only set_axis services I get are the set_axis/get_loggers and set_axis/set_logger_level.

Hi!

First of all, sorry for my English, I'm studying English at this moment.

How everyone know, the oficial tutorial to run Whycon is for last version, no for the actual version, so I'm having many problems to run it. I can run all and detect all markers great, but I don't get put the correct axis, because I want that the marker of under and left be the (0,0), and I dont' get it.

I'm running it in this order:

roscore

roslaunch video_stream_opencv rtsp_stream.launch (because I'm using the mobile phone cam)

ROS_NAMESPACE=rtsp2 rosrun image_proc image_proc (to process the image)

roslaunch whycon set_axis.launch

rosrun whycon whycon _targets:=4

Thus, it has created the file whycon_transforms.yml, with the correct transformations and rotations, but when I show the topic /whycon/image_out, this transformations don't have been applicated.

cd catkin_ws/src/whycon/src/launch

rosrun rviz rviz -d whycon.rviz

And optionally (I think), run this:

rosrun whycon robot_pose_publisher

When I run the last code line, if I look in topic /whycon/transformer, I can see four markers which have positions (0,0), (1,0), (0,1), (1,1) more or less, but in the output image we can't see that.

Please, how I run this with the correct axes?

I have personally found whycon markers to be great and was wondering if there is any plan to build support for future versions of ROS?

Is there any possibility to detect a variable number of targets?

I observe the following behavior: If I specify the number of targets to be, e.g., 4, I get no detection if there are 3 or less targets visible and 4 out of many targets if there are more.

In my application I want to process a set of 1, 2 or 4 targets. If the number was reconfigurable, I could switch between those detection modes without restarting the ROS node. But ideally I'd somehow get all visible targets (up to the maximum number of 4).

Any help is greatly appreciated! :)

Too tiny to read. Also the color is contrastive to UBA floor only :).

Hi, just wondering whether you can add a licence to the repository?

Hi!

I used whycon to track big targets and it is working really well!

Now I would like to use very small targets (around 1 cm) to estimate the pose of the hand of an humanoid robot (Romeo).

If I set a "normal" outer_diameter and inner_diameter the algorithm is able to detect the circles, but of course the pose estimation will be wrong.
If I set the real diameters (very small) the localization is not able to find the target. I checked the code but I did not find any limits for the dimension of the target.

Do you have any idea why?

Thank you very much for your work!

When no marker or less than target number of marker is/are detected , the callback function is'nt called and hence program is stops till it detects whycon . If there is way to send msg when this happens ? .
If yes which file or line or function does the flow goes when this happens ? .

We can consider adding an optional encoding system where circles are distinguished based on a particular property. This system should be applicable to the full 3D case.
Current idea would be to use an offset inner circle. If precision/rubost is affected, maybe we can add another ring outside.

Building the stand-alone version (cmake -DDISABLE_ROS=ON ..) produces error:

/whycon/src/main.cpp:210:56: error: no matching function for call to ‘cv::LocalizationSystem::read_axis(const std::basic_string&)’
system.read_axis(config_vars["axis"].as());
^
compilation terminated due to -Wfatal-errors.

I’m trying to run Whycon using ROS Kinetic with a USB camera on Ubuntu 16.04 LTS. I followed the whycon tutorial to calibrate the camera. After calibration, I ran in my home directory $ROS_NAMESPACE =usb_cam rosrun image_proc image_proc
And in a new terminal: $rosrun image_view image_view image:=usb_cam/image_rect_color
This worked with no issues. I then unpacked the calibration data from the tar.gz file using $tar -xvzf and then converted the ost.txt file to an ost.ini via $mv ost.txt ost.ini and then ran $rosrun camera_calibration_parsers convert ost.ini whycon_transforms.yml to convert to a yml file.
I sourced catkin_ws and then moved up to the whycon directory to run $rosrun whycon whycon _targets:=1. Here I get the error “could not load file”.

This error also occurs in any other directory than my catkin_ws/src folder. If I move back to ~/catkin_ws/src I get the following error.

I’ve tried redownloading Whycon and repeating the entire process but that did not work. I’m not sure where I went wrong, but any help would be appreciated. I’ve included the yml file in question and the whycon_ros.cpp that pulls the whycon_transforms.yml file.

whycon_transforms.yml.txt

whycon_ros.txt

I've followed the tutorial to set up Whycon. I've run set_axis and calibrated the camera using the monocular camera calibration tutorial each time. I changed the circle_detector.h file to have the correct size of my targets. But my z distances are inaccurate compared to physically measuring the distance with a tape measure.
I've tried different size targets, different size calibration boards, different number of targets, different distances between the camera and targets. I still have errors up to 20 cm in the z axis. I'm not sure what else I can do. Any help would be appreciated.

Hi!
I have noticed that the list of 2D pixel coordinates is not published anymore from
this commit.

Is there a particular reason?
I ask because I am using the points. I am still using an old version of WhyCon but I wanted to pull the new changes.

Thanks!

Link to the SwarmCon (parth of CosPhi), link to the WhyCon.Mini.

Hi ：
Firstly thanks for sharing this wonderful system.
And I want to do some quadrotors formation control with this system on Raspberry Pi3 B+. What I have done was:
1- installing ROS indigo on Raspberry Pi
2- installing the need dependencies
And then It seems like that can not install OpenCV 3 on Raspberry Pi by doing

apt-get install ros-indigo-opencv3

Then I installed the other dependencies . But I got this：

Building CXX object whycon/CMakeFiles/whycon.dir/src/lib/circle_detector.cpp.o
Built target geometry_msgs_generate_messages_lisp
*** Error in `/usr/bin/c++': double free or corruption (top): 0x01d87368 ***
Aborted
whycon/CMakeFiles/whycon.dir/build.make:54: recipe for target 'whycon/CMakeFiles/whycon.dir/src/lib/circle_detector.cpp.o' failed
make[2]: *** [whycon/CMakeFiles/whycon.dir/src/lib/circle_detector.cpp.o] Error 134
make[2]: *** Waiting for unfinished jobs....
[ 17%] *** Error in `/usr/bin/c++': double free or corruption (top): 0x001f6358 ***
Aborted
whycon/CMakeFiles/whycon.dir/build.make:77: recipe for target 'whycon/CMakeFiles/whycon.dir/src/lib/many_circle_detector.cpp.o' failed
make[2]: *** [whycon/CMakeFiles/whycon.dir/src/lib/many_circle_detector.cpp.o] Error 134
Building CXX object whycon/CMakeFiles/whycon.dir/src/lib/localization_system.cpp.o
*** Error in `/usr/bin/c++': double free or corruption (top): 0x0082b358 ***
Aborted
whycon/CMakeFiles/whycon.dir/build.make:100: recipe for target 'whycon/CMakeFiles/whycon.dir/src/lib/localization_system.cpp.o' failed
make[2]: *** [whycon/CMakeFiles/whycon.dir/src/lib/localization_system.cpp.o] Error 134
CMakeFiles/Makefile2:1714: recipe for target 'whycon/CMakeFiles/whycon.dir/all' failed
make[1]: *** [whycon/CMakeFiles/whycon.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 17%] Built target _whycon_generate_messages_check_deps_Projection
Makefile:126: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

Could anyone can help and tell me which part I have done was wrong?
Thanks so much for help

I am exclusively trying to echo the x,y,z positions of the whycon poses in ROS, but I don't understand the formatting for executing this. With a standard geometry_msgs/PoseArray, you would simply type:
rostopic echo /whycon/poses/position.x to get only the x positions. However, this does not work with whycon.

Do you know what the proper formatting to echo x,y,z positions without orientations?