Ecosyste.ms: Awesome
An open API service indexing awesome lists of open source software.
https://github.com/jyjblrd/Low-Cost-Mocap
Low cost motion capture system for room scale tracking
https://github.com/jyjblrd/Low-Cost-Mocap
autonomous-robots bundle-adjustment computer-vision epipolar-geometry esp32 motion-capture motion-tracking quadcopter
Last synced: 3 months ago
JSON representation
Low cost motion capture system for room scale tracking
- Host: GitHub
- URL: https://github.com/jyjblrd/Low-Cost-Mocap
- Owner: jyjblrd
- License: mit
- Created: 2023-07-29T21:25:33.000Z (11 months ago)
- Default Branch: main
- Last Pushed: 2024-03-24T15:57:41.000Z (3 months ago)
- Last Synced: 2024-03-24T16:51:09.264Z (3 months ago)
- Topics: autonomous-robots, bundle-adjustment, computer-vision, epipolar-geometry, esp32, motion-capture, motion-tracking, quadcopter
- Language: TypeScript
- Homepage:
- Size: 3.55 MB
- Stars: 1,097
- Watchers: 30
- Forks: 191
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Lists
- awesome-stars - jyjblrd/Low-Cost-Mocap - Low cost motion capture system for room scale tracking (TypeScript)
README
# Low Cost Mocap (for drones)
### A general purpose motion capture system built from the ground up, used to autonomously fly multiple drones indoors
## Dependencies
Install the pseyepy python library: [https://github.com/bensondaled/pseyepy](https://github.com/bensondaled/pseyepy)
This project requires the sfm (structure from motion) OpenCV module, which requires you to compile OpenCV from source. 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)
`cv.sfm` is only used 3 times in the codebase for the following functions: `fundamentalFromProjections`, `essentialFromFundamental`, `motionFromEssential`. So really, those functions should just be reimplemented in Python so the sfm module isn't needed. [Issue](https://github.com/jyjblrd/Mocap-Drones/issues/4).
install npm and yarn
## Runing the code
From the computer_code directory Run `yarn install` to install node dependencies
Then run `yarn run dev` to start the webserver. You will be given a url view the frontend interface.
In 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.
## Documentation
The 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.
My blog post has some more information about the drones & camera: [joshuabird.com/blog/post/mocap-drones](https://joshuabird.com/blog/post/mocap-drones)
## YouTube Video
Watch this for information about the project & a demo!
[https://youtu.be/0ql20JKrscQ?si=jkxyOe-iCG7fa5th](https://youtu.be/0ql20JKrscQ?si=jkxyOe-iCG7fa5th)
## Architectural Diagram
