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[Video] Wand control - having fun with a mocap studio
Posted: Mon Dec 09, 2013 4:47 pm
by omwdunkley
Hey guys,
I visited a motion capture studio to get the control side of things working for my (hopefully one day finished) visual odometry (ego motion blabla) program.
I couldnt help myself:
http://www.youtube.com/watch?v=v8R-d5B1j1g
So much fun! killing batteries in minutes..
Re: [Video] Wand control - having fun with a mocap studio
Posted: Wed Dec 11, 2013 5:15 pm
by tobias
That is just really cool. I also want a motion capture system!
Re: [Video] Wand control - having fun with a mocap studio
Posted: Thu Dec 12, 2013 3:25 pm
by omwdunkley
Thanks!
Here is a much better video of the same thing, with some first person footage half way through:
http://www.youtube.com/watch?v=WPi__Q6CNdQ
Some info:
I use an external tracking system (Qualisys) on a windows computer, and access it via the network from my laptop running ubuntu. Everything gets exposed to ROS; where I have a custom client and joy stick driver. ROS provides all the tools to visualise everything in 3d and plot all the incoming/outgoing signals. A PD controller is used to convert distances in the xy plane to roll/pitch angles, a PID controller is used to control the thrust, and a P controller for the yaw velocity. The tracking system runs at 100hz and less aggressive maneuvers also work around 30hz with 100ms lag. So there is hope for using a camera/kinect system for tracking.