nikunjsanghai / mocaprasp

Motion capture arena using only Raspberry Pi and open source libraries

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"
• Paper: "Optical tracking system based on COTS components"

🏗️ Requirements

• Two (minimum) Raspberry 3b or above
• Two (minimum) NoIR cameras
  • this code uses V2 picamera module (> 90FPS)
  • For V3 modules, use @adthoms fork
• Ethernet cables
• Tripods and gymbals)
• Dissasembled PC coolers (there will be frequency capping if no ventilation)
• IR LED rings or reflectors (rings are easier to align with the camera axis)
• IR low-pass filters (floppy disks or glass)
• NPN FET, optocoupler, and 3x 1kΩ resistors for LED turn on/off circuit
• Polystyrene spheres
• Reflective adehesive

⚔️ Usage

Please follow each folder README.md guide file.

• /calib/ for intrinsics calibration scripts
• /server/ for the server scritps
• /client/ for the client scripts