Smocap is a simple ROS mocap node. It uses fixed (wall or ceiling mounted) cameras to detect and localize moving markers.
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| Ceiling mounted camera | Action videos |
Read Installing from source or
- Install ROS, then create a catkin workspace:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make
- Download sources:
cd ~/catkin_ws/src
git clone https://github.com/poine/smocap.git
- Build the package
cd ~/catkin_ws/
catkin_make
- Start gazebo and load a single (remotely controlled) infrared marker:
roslaunch smocap_gazebo gazebo_hog_marker.launch
- Load a camera in gazebo:
roslaunch smocap_gazebo single_cam.launch camera_id:=1 pos_x:=0. pos_y:=0. pos_z:=3. rot_P:=1.5707963267948966 fps:=30.
- Start the mocap node:
rosrun smocap smocap_node.py _cameras:=camera_1 _detector_cfg_path:=`rospack find smocap`/params/gazebo_detector_cfg.yaml _img_encoding:=rgb8
- View what's going on
rviz
look for topics staring with smocap...