base on Low cost motion capture system for room scale tracking # Low Cost Mocap (for drones) ### A general purpose motion capture system built from the ground up, used to autonomously fly multiple drones indoors ## 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) [<img src="https://github.com/jyjblrd/Mocap-Drones/blob/main/images/thumbnail.png">](https://youtu.be/0ql20JKrscQ?si=jkxyOe-iCG7fa5th) ## Architectural Diagram  ## 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[^1]. 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) [^1]: ⚠️ The experimental [`no-cv-sfm`](https://github.com/jyjblrd/Low-Cost-Mocap/tree/no-cv-sfm) branch removes this OpenCV-SFM dependency, however it is *completely* untested. It is recommended to first try use the `main` branch which is tested, however feedback and bug reports on the `no-cv-sfm` branch are greatly appreciated. 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) [This post](https://github.com/jyjblrd/Low-Cost-Mocap/discussions/11#discussioncomment-9380283) by gumby0q explains how `camera_params.json` can be calculated for your cameras. ## "Inside-Out" Multi-Agent Tracking (SLAM) This motion capture system is an "outside-in" system, with external cameras tracking objects within a fixed space. There are also "inside-out" systems which use cameras on the drones/robots to determine their locations, not requiring any external infrastructure. My undergraduate dissertation presents such a system, which is capable of localizing multiple agents within a world in real time using purely visual data, with state-of-the-art performance. Check it out here: [https://github.com/jyjblrd/distributed_visual_SLAM](https://github.com/jyjblrd/distributed_visual_SLAM) ", Assign "at most 3 tags" to the expected json: {"id":"5161","tags":[]} "only from the tags list I provide: [{"id":77,"name":"3d"},{"id":89,"name":"agent"},{"id":17,"name":"ai"},{"id":54,"name":"algorithm"},{"id":24,"name":"api"},{"id":44,"name":"authentication"},{"id":3,"name":"aws"},{"id":27,"name":"backend"},{"id":60,"name":"benchmark"},{"id":72,"name":"best-practices"},{"id":39,"name":"bitcoin"},{"id":37,"name":"blockchain"},{"id":1,"name":"blog"},{"id":45,"name":"bundler"},{"id":58,"name":"cache"},{"id":21,"name":"chat"},{"id":49,"name":"cicd"},{"id":4,"name":"cli"},{"id":64,"name":"cloud-native"},{"id":48,"name":"cms"},{"id":61,"name":"compiler"},{"id":68,"name":"containerization"},{"id":92,"name":"crm"},{"id":34,"name":"data"},{"id":47,"name":"database"},{"id":8,"name":"declarative-gui "},{"id":9,"name":"deploy-tool"},{"id":53,"name":"desktop-app"},{"id":6,"name":"dev-exp-lib"},{"id":59,"name":"dev-tool"},{"id":13,"name":"ecommerce"},{"id":26,"name":"editor"},{"id":66,"name":"emulator"},{"id":62,"name":"filesystem"},{"id":80,"name":"finance"},{"id":15,"name":"firmware"},{"id":73,"name":"for-fun"},{"id":2,"name":"framework"},{"id":11,"name":"frontend"},{"id":22,"name":"game"},{"id":81,"name":"game-engine "},{"id":23,"name":"graphql"},{"id":84,"name":"gui"},{"id":91,"name":"http"},{"id":5,"name":"http-client"},{"id":51,"name":"iac"},{"id":30,"name":"ide"},{"id":78,"name":"iot"},{"id":40,"name":"json"},{"id":83,"name":"julian"},{"id":38,"name":"k8s"},{"id":31,"name":"language"},{"id":10,"name":"learning-resource"},{"id":33,"name":"lib"},{"id":41,"name":"linter"},{"id":28,"name":"lms"},{"id":16,"name":"logging"},{"id":76,"name":"low-code"},{"id":90,"name":"message-queue"},{"id":42,"name":"mobile-app"},{"id":18,"name":"monitoring"},{"id":36,"name":"networking"},{"id":7,"name":"node-version"},{"id":55,"name":"nosql"},{"id":57,"name":"observability"},{"id":46,"name":"orm"},{"id":52,"name":"os"},{"id":14,"name":"parser"},{"id":74,"name":"react"},{"id":82,"name":"real-time"},{"id":56,"name":"robot"},{"id":65,"name":"runtime"},{"id":32,"name":"sdk"},{"id":71,"name":"search"},{"id":63,"name":"secrets"},{"id":25,"name":"security"},{"id":85,"name":"server"},{"id":86,"name":"serverless"},{"id":70,"name":"storage"},{"id":75,"name":"system-design"},{"id":79,"name":"terminal"},{"id":29,"name":"testing"},{"id":12,"name":"ui"},{"id":50,"name":"ux"},{"id":88,"name":"video"},{"id":20,"name":"web-app"},{"id":35,"name":"web-server"},{"id":43,"name":"webassembly"},{"id":69,"name":"workflow"},{"id":87,"name":"yaml"}]" returns me the "expected json"