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WhyCon Manual

In order to use the WhyCon system there are four required steps:

1. Calibrate your camera
2. Print the planar target(s)
3. Define the working area / calibrate the system
4. Start tracking

Camera Calibration

Since the camera you use needs to be calibrated, you will have to use a camera calibration software for this. The widely used MATLAB calibration toolbox can be used for this. The resulting .m file can be read directly by WhyCon. The file should be named Calib_Results.m and placed in the top sources directory (not the build directory).

Alternatively, you can use the provided calibrator executable which does not require a tedious point-and-click procedure. A tutorial on this calibrator can be found [here](Calibrator Manual).

Planar target printing

The ring pattern is available within the sources. You can access it directly from here: circle.eps (right-click, save as). Print this in a full sheet without any scaling. The actual target starts within the thin outter line. If you need to cut it, do not cut out this line since it ensure that some white space will be surrounding the actual ring.

If you alter the dimensions of this circle, you will also need to alter the corresponding parameters in the code.

System Calibration

In the current version, the localization system works only for planar working areas. Therefore, the calibration is targeted towards defining such plane, which will generally be the ground plane.

For this step, you will need four targets already printed. Then, place them on the floor.

To be continued...

Start tracking

To be filled...