https://github.com/deboliveira/mocaprasp

Motion capture arena using only Raspberry Pi and open source libraries
https://github.com/deboliveira/mocaprasp

blob-detection motion-capture motion-tracking open-source optical-tracking optitrack raspberry-pi raspberry-pi-4 raspberrypi visual-object-tracking visual-odometry

Last synced: 3 months ago
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Motion capture arena using only Raspberry Pi and open source libraries

• Host: GitHub
• URL: https://github.com/deboliveira/mocaprasp
• Owner: debOliveira
• License: agpl-3.0
• Created: 2021-12-30T19:45:25.000Z (about 3 years ago)
• Default Branch: main
• Last Pushed: 2023-12-01T05:34:09.000Z (about 1 year ago)
• Last Synced: 2024-10-11T02:02:24.656Z (3 months ago)
• Topics: blob-detection, motion-capture, motion-tracking, open-source, optical-tracking, optitrack, raspberry-pi, raspberry-pi-4, raspberrypi, visual-object-tracking, visual-odometry
• Language: Jupyter Notebook
• Homepage:
• Size: 33.7 MB
• Stars: 28
• Watchers: 5
• Forks: 4
• Open Issues: 5
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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This repository stores an **open optical tracking/motion capture system using passive reflective markers and Raspberry Pi**. The system has a 1cm accuracy when using 4 cameras, but the number can be expanded to improve cover. 

## 🔖 Docs

- Master thesis: ["Heterogeneous optical tracking system for mobile vehicles"](https://drive.google.com/file/d/1Gvj34tuTL8okl7SSPtr6r7JbKLNrIH3P/view?usp=sharing)

- Paper: ["Optical tracking system based on COTS components"](https://ieeexplore.ieee.org/document/10053039)

## 🏗️ Requirements

- Two (*minimum*) Raspberry 3b or above

- Two (*minimum*) NoIR cameras 

    * **this code uses V2 `picamera` module** (> 90FPS)

    * For V3 modules, use [@adthoms fork](https://github.com/adthoms/MoCapRasp/tree/main)

- Ethernet cables

- Tripods and [gymbals](https://www.amazon.com.br/gp/product/B099HPMZK1/ref=ppx_yo_dt_b_asin_title_o02_s01?ie=UTF8&psc=1))

- Dissasembled PC coolers (there will be frequency capping if no ventilation)

- IR LED [rings](https://produto.mercadolivre.com.br/MLB-2096109150-led-infravermelho-cameras-seguranca-com-sensor-kit-4-placa-_JM) or [reflectors](https://produto.mercadolivre.com.br/MLB-705743885-refletor-72-leds-infravermelho-para-camera-de-seguranca-_JM#position=18&search_layout=stack&type=item&tracking_id=f82f63b5-6055-4f00-a978-0f2bfc703d91) (rings are easier to align with the camera axis)

- IR low-pass filters (floppy disks or [glass](https://pt.aliexpress.com/item/1005003709944263.html?spm=a2g0o.order_list.0.0.1856caa4oP6TAy&gatewayAdapt=glo2bra))

- NPN FET, optocoupler, and 3x 1kΩ resistors for LED turn on/off circuit 

- Polystyrene spheres 

- [Reflective adehesive](https://dmrefletivos.com.br/sinalizacao-viaria/grau-comercial/)

  

## ⚔️ Usage

Please follow each folder `README.md` guide file. 

    

- [`/calib/`](/calib/) for intrinsics calibration scripts 

- [`/server/`](/server/) for the server scritps

- [`/client/`](/client/) for the client scripts