{"id":14963248,"url":"https://github.com/jyjblrd/low-cost-mocap","last_synced_at":"2025-05-15T13:06:41.168Z","repository":{"id":207286423,"uuid":"672374613","full_name":"jyjblrd/Low-Cost-Mocap","owner":"jyjblrd","description":"Low cost motion capture system for room scale tracking","archived":false,"fork":false,"pushed_at":"2024-05-25T14:50:19.000Z","size":3743,"stargazers_count":1938,"open_issues_count":16,"forks_count":332,"subscribers_count":45,"default_branch":"main","last_synced_at":"2025-05-15T13:06:34.813Z","etag":null,"topics":["autonomous-robots","bundle-adjustment","computer-vision","epipolar-geometry","esp32","motion-capture","motion-tracking","quadcopter"],"latest_commit_sha":null,"homepage":"","language":"TypeScript","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/jyjblrd.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-07-29T21:25:33.000Z","updated_at":"2025-05-14T13:21:08.000Z","dependencies_parsed_at":"2024-01-16T17:02:23.568Z","dependency_job_id":"687d49f4-1e92-414a-a3ba-ac328790d157","html_url":"https://github.com/jyjblrd/Low-Cost-Mocap","commit_stats":{"total_commits":66,"total_committers":4,"mean_commits":16.5,"dds":"0.28787878787878785","last_synced_commit":"8ac4d4107fda026d787d5e197f0dcbe6257b2720"},"previous_names":["jyjblrd/mocap-drones","jyjblrd/low-cost-mocap"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jyjblrd%2FLow-Cost-Mocap","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jyjblrd%2FLow-Cost-Mocap/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jyjblrd%2FLow-Cost-Mocap/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jyjblrd%2FLow-Cost-Mocap/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/jyjblrd","download_url":"https://codeload.github.com/jyjblrd/Low-Cost-Mocap/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":254346624,"owners_count":22055808,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["autonomous-robots","bundle-adjustment","computer-vision","epipolar-geometry","esp32","motion-capture","motion-tracking","quadcopter"],"created_at":"2024-09-24T13:31:14.550Z","updated_at":"2025-05-15T13:06:36.155Z","avatar_url":"https://github.com/jyjblrd.png","language":"TypeScript","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Low Cost Mocap (for drones)\n\n### A general purpose motion capture system built from the ground up, used to autonomously fly multiple drones indoors\n\n## YouTube Video\nWatch this for information about the project \u0026 a demo!\n[https://youtu.be/0ql20JKrscQ?si=jkxyOe-iCG7fa5th](https://youtu.be/0ql20JKrscQ?si=jkxyOe-iCG7fa5th)\n\n[\u003cimg src=\"https://github.com/jyjblrd/Mocap-Drones/blob/main/images/thumbnail.png\"\u003e](https://youtu.be/0ql20JKrscQ?si=jkxyOe-iCG7fa5th)\n\n## Architectural Diagram\n![](https://github.com/jyjblrd/Mocap-Drones/blob/main/images/architecture.png?raw=true)\n\n## Dependencies\nInstall the pseyepy python library: [https://github.com/bensondaled/pseyepy](https://github.com/bensondaled/pseyepy)\n\nThis project requires the sfm (structure from motion) OpenCV module, which requires you to compile OpenCV from source[^1]. This is a bit of a pain, but these links should help you get started: [SFM dependencies](https://docs.opencv.org/4.x/db/db8/tutorial_sfm_installation.html) [OpenCV module installation guide](https://github.com/opencv/opencv_contrib/blob/master/README.md)\n\n[^1]: ⚠️ The experimental [`no-cv-sfm`](https://github.com/jyjblrd/Low-Cost-Mocap/tree/no-cv-sfm) branch removes this OpenCV-SFM dependency, however it is *completely* untested. It is recommended to first try use the `main` branch which is tested, however feedback and bug reports on the `no-cv-sfm` branch are greatly appreciated. \n\ninstall npm and yarn\n\n## Runing the code\n\nFrom the computer_code directory Run `yarn install` to install node dependencies \n\nThen run `yarn run dev` to start the webserver. You will be given a url view the frontend interface.\n\nIn another terminal window, run `python3 api/index.py` to start the backend server. This is what receives the camera streams and does motion capture computations.\n\n## Documentation\nThe documentation for this project is admittedly pretty lacking, if anyone would like to put type definitions in the Python code that would be amazing and probably go a long way to helping the readability of the code. Feel free to also use the [discussion](https://github.com/jyjblrd/Mocap-Drones/discussions) tab to ask questions.\n\nMy blog post has some more information about the drones \u0026 camera: [joshuabird.com/blog/post/mocap-drones](https://joshuabird.com/blog/post/mocap-drones)\n\n[This post](https://github.com/jyjblrd/Low-Cost-Mocap/discussions/11#discussioncomment-9380283) by gumby0q explains how `camera_params.json` can be calculated for your cameras.\n\n\n\n## \"Inside-Out\" Multi-Agent Tracking (SLAM)\nThis motion capture system is an \"outside-in\" system, with external cameras tracking objects within a fixed space. There are also \"inside-out\" systems which use cameras on the drones/robots to determine their locations, not requiring any external infrastructure. \n\nMy undergraduate dissertation presents such a system, which is capable of localizing multiple agents within a world in real time using purely visual data, with state-of-the-art performance. Check it out here: [https://github.com/jyjblrd/distributed_visual_SLAM](https://github.com/jyjblrd/distributed_visual_SLAM)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjyjblrd%2Flow-cost-mocap","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fjyjblrd%2Flow-cost-mocap","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjyjblrd%2Flow-cost-mocap/lists"}