| --- |
| license: apache-2.0 |
| pretty_name: WhyCode Isaac Sim bags |
| tags: |
| - robotics |
| - ros2 |
| - fiducial-markers |
| - isaac-sim |
| - apriltag |
| - benchmark |
| --- |
| |
| # WhyCode Isaac Sim bags |
|
|
| ROS 2 bags recorded in Isaac Sim 6.2 to benchmark fiducial marker detectors. A robot drives past |
| markers in a warehouse, and every camera frame comes with the exact ground truth of every marker, |
| so a detector can be replayed against a bag and scored offline. |
|
|
| | Project | What it is | |
| |---|---| |
| | [whycode](https://github.com/Adyansh04/whycode) | `whycode_vision`, the WhyCon and WhyCode detector for ROS 2; its README has the results measured on these bags | |
| | [whycode-sim](https://github.com/Adyansh04/whycode-sim) | `whycode_sim`, the Isaac Sim warehouse scene that recorded them, its ground-truth node and the scoring tools | |
| | [whycode-bench](https://github.com/Adyansh04/whycode-bench) | the Docker setup and scripts that record the bags, replay each detector against them and draw the comparison | |
|
|
| ## What is here |
|
|
| | Path | Bags | |
| |---|---| |
| | `whycode_bench_bags.zip` | The warehouse loop at 1280x720: one lap of paths A, B and C, and three laps at 0.5, 0.8 and 1.2 m/s, each with WhyCode markers and with AprilTags (0.16 m tags in these) | |
| | `benchmark_bags/range_<family>_<640,1280,1920>` | Detection range: a 0.20 and a 0.146 m marker on the camera's axis while the robot drives 41.5 m straight away, with a RealSense D435's colour field of view | |
| | `benchmark_bags/angle_<family>` | Viewing angle: one 0.20 m marker, circled at 2, 4 and 6 m with a side camera, 1280x720 | |
| | `benchmark_bags/whycon_1lap`, `benchmark_bags/apriltag_1lap` | Path A with plain WhyCon markers, and with 0.20 m AprilTags | |
| | `benchmark_bags/demo_1lap` | Path A with Isaac Sim's chase camera as well, for the demo video | |
|
|
| `<family>` is `whycode`, `whycon` or `apriltag`. A marker's size is its outer black edge: a |
| ring's diameter, or a tag's black square. |
|
|
| ## Inside a bag |
|
|
| MCAP with zstd chunks, logged on sim time at 30 Hz. |
|
|
| | Topic | Type | |
| |---|---| |
| | `/camera/image_raw`, `/camera/camera_info` | `sensor_msgs/Image` (rgb8), `sensor_msgs/CameraInfo` | |
| | `/marker_ground_truth` | `whycode_sim_msgs/MarkerGroundTruthArray`: every marker's pose in the camera frame, range, incidence, apparent size and visibility | |
| | `/marker_occlusion` | `whycode_sim_msgs/MarkerOcclusion` | |
| | `/camera_ground_truth`, `/odom_ground_truth` | `nav_msgs/Odometry` | |
| | `/tf`, `/tf_static`, `/clock` | | |
| | `/chase_camera/image_raw` | `sensor_msgs/Image`, in `demo_1lap` only | |
|
|
| The ground-truth messages are defined in `whycode_sim_msgs`, part of whycode-sim: build it in your |
| ROS 2 workspace to read them. |
|
|
| ## Download and replay |
|
|
| ```bash |
| hf download Adyansh/Whycode-isaac-bag --repo-type dataset \ |
| --include "benchmark_bags/range_whycode_1280/*" --local-dir data |
| ros2 bag play data/benchmark_bags/range_whycode_1280 --clock |
| ``` |
|
|
| Each bag folder holds a `metadata.yaml` and its `.mcap`. whycode-bench mounts `./data` in its |
| containers and runs the whole comparison with `./scripts/benchmark.sh evaluate`. |
|
|
