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Adyansh04 / whycode

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ROS 2 detector for WhyCon and WhyCode fiducial markers in C++20: finds each marker, decodes its ID, estimates its 6-DoF pose and tracks it, in about 1.3 ms of one CPU core per 1280x720 frame. Runs as a node or a composable component; benchmarked against AprilTag in Isaac Sim.

opencv real-time computer-vision localization cpp robotics ros simd object-tracking fiducial-markers kalman-filter pose-estimation ros2 whycon marker-detection cpp20 ros2-jazzy whycode
  • Updated Oct 21, 2026
  • C++

Adyansh04 / whycode-bench

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Benchmark for the WhyCode fiducial marker detector in ROS 2 and Isaac Sim: records a robot driving past markers with exact ground truth, then scores WhyCode, WhyCon, AprilTag 3, Isaac ROS and OpenCV ArUco on range, accuracy, viewing angle and CPU. Docker setup, demo launcher and bags on Hugging Face.

docker opencv benchmarking benchmark computer-vision robotics simulation docker-compose aruco fiducial-markers rosbag pose-estimation ros2 whycon apriltag isaac-sim isaac-ros ros2-jazzy whycode
  • Updated Oct 21, 2026
  • Shell

Adyansh04 / whycode-sim

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Isaac Sim 6.2 warehouse scene for benchmarking fiducial marker detectors in ROS 2 Jazzy: a Nova Carter drives past WhyCode, WhyCon or AprilTag markers and records the camera with exact per-frame ground truth to a bag, with replay and scoring tools. The Gazebo Harmonic version is on the jazzy-harmonic branch.

benchmark computer-vision robotics simulation aruco warehouse gazebo fiducial-markers ground-truth rosbag ros2 whycon synthetic-data mobile-robot apriltag isaac-sim omniverse isaac-ros ros2-jazzy whycode
  • Updated Oct 21, 2026
  • Python

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