Smocap

1. Introduction

Smocap is a simple ROS mocap node. It uses fixed (wall or ceiling mounted) cameras to detect and localize moving markers.

Ceiling mounted camera	Action videos

Documentation index

2. Quickstart

2.1 Building the package

Read Installing from source or

1. Install ROS, then create a catkin workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make

2. Download sources:

cd ~/catkin_ws/src
git clone https://github.com/poine/smocap.git

3. Build the package

cd ~/catkin_ws/
catkin_make

2.2 Running a simulation

1. Start gazebo and load a single (remotely controlled) infrared marker:

roslaunch smocap_gazebo gazebo_hog_marker.launch

2. 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.

3. 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

4. View what's going on

rviz

look for topics staring with smocap...