Waynon - Calibration Tool

Waynon is a calibration tool that uses a GUI to help the user specify their problem. The user builds their scene graph by adding cameras, robots, and aruco markers. The scene graph is then used to build a factor graph that jointly optimizes the marker and camera locations. The interface allows the user to visually set rough initial poses of the elements needed to be optimized. It also allows verification and adjustment of any measurement used in the optimization (Bad marker detections can be fixed or disabled).

Installation

Install pixi. Usually done like this:

curl -fsSL https://pixi.sh/install.sh | bash

To run:

git clone https://github.com/bdaiinstitute/waynon
cd waynon
pixi r start

If you get an OpenGL error on linux, you may need to

export PYOPENGL_PLATFORM=x11

Demo

Watch a demo going from an empty scene to a calibrated one.

Features

Construct your station by creating robots, cameras, and markers.

Position your marker and visually verify its the right id.

Easily get initial poses for the camera using the scene graph you built.

Correct any bad marker detections in the GUI

Set robot poses, visualize them, and the move to to them from the interface.

Solve jointly using an automatically built factor graph

Disclaimer

This software is provided as a research prototype and is not production-quality software. Please note that the code may contain missing features, bugs and errors. RAI Institute does not offer maintenance or support for this software.