vicon_transformer

Read frames provided by a Vicon system and transform them into a usable form for your project.

This package was initiated in intelligent-soft-robots/vicon_transformer. Here, we remove any project related dependencies and add some documentation.

This package allows for a wand independent representation of the measurement. It realizes that by saving the relative transformation between the Vicon-origin(different every time) and the origin-structure. We then use this transformation to transform any measurements to the reference frame given by the origin-structure.

For this reason, the package puts a requirement on the setup. The origin-structure should be present in the view-field of the Vicon system when starting the package.

Installation and setting up the Vicon system

Ensure that you have installed, activated, and calibrated the Vicon Tracker software according to the tutorial videos shown here.

For this package to work, the Viconstreamsdk should be additionally installed on the computer.

For the network communication, we use the zeromq package, which can be installed via

pip install pyzmq

Starting the streaming

# 1. We first start the 'Vicon Tracker' software and use the magic-wand to 
#    calibrate cameras and set the origin.

# 2. Start the streaming service on the host side by copying the script `StartStream.py`
#    and starting it via
python StartStream.py
#    make sure that the IP parameter is set according to the IP of the host machine.


# 3. Create `ViconJson` from `vicon_transformer.py` and start it on the client computer.
#    An example is shown in `TestSettingOrigin.py`
python TestSettingOrigin.py