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Miroslav Krajicek edited this page May 3, 2020 · 5 revisions

Architecture

The basic idea is shown below on the deploy diagram:

Instead of Raspberry PI, it is possible to use other SBC but it needs to satisfy these requirements:

  • Known intrinsic camera parameters
  • 850 nm narrow band-pass filter on a camera
  • 850 nm LED ring
  • Low distortion camera lens

Communication:

  • MQTT protocol with msgpack payload.
  • MQTT Broker - Mosquitto
  • All cameras and Mosquitto broker are discovered through avahi zeroconf protocol so no manual configuration is needed

Simulation

It is possible to simulate the motion capture scene with RPIMoCapSimClient. It is useful mainly during algorithm development. Main features:

  • Create or remove the virtual camera
  • Change properties of virtual cameras (FPS, Position, and Rotation)
  • Control of calibration wand position and rotation
  • View of simulation scene for reference
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