Use new factory method of libmotioncapture

CMakeLists.txt

@@ -131,22 +131,6 @@ link_directories(
  ${LIBMOTIONCAPTURE_LINK_DIR}
 )
 
-if (ENABLE_VICON)
- add_definitions(-DENABLE_VICON)
-endif()
-if (ENABLE_OPTITRACK)
- add_definitions(-DENABLE_OPTITRACK)
-endif()
-if (ENABLE_PHASESPACE)
- add_definitions(-DENABLE_PHASESPACE)
-endif()
-if (ENABLE_QUALISYS)
- add_definitions(-DENABLE_QUALISYS)
-endif()
-if (ENABLE_VRPN)
- add_definitions(-DENABLE_VRPN)
-endif()
-
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
 # src/${PROJECT_NAME}/motion_capture_tracking.cpp

README.md

@@ -1,4 +1,4 @@
-[![ROS](https://github.com/whoenig/motion_capture_tracking/actions/workflows/ROS.yml/badge.svg?branch=main)](https://github.com/whoenig/motion_capture_tracking/actions/workflows/ROS.yml)
+[![ROS](https://github.com/IMRCLab/motion_capture_tracking/actions/workflows/ROS.yml/badge.svg?branch=main)](https://github.com/IMRCLab/motion_capture_tracking/actions/workflows/ROS.yml)
 
 # motion_capture_tracking
 
@@ -10,7 +10,7 @@ To build from source, clone the latest version from this repository into your ca
 
 ```
 cd catkin_workspace/src
-git clone --recurse-submodules https://github.com/whoenig/motion_capture_tracking
+git clone --recurse-submodules https://github.com/IMRCLab/motion_capture_tracking
 cd ../
 catkin_make
-```
+```

launch/node.launch

@@ -5,15 +5,10 @@
  <rosparam>
  # Tracking
  motion_capture_type: "qualisys" # one of vicon,optitrack,qualisys,vrpn
+ motion_capture_hostname: "localhost"
  object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
- # vicon_host_name: "192.168.50.253"
- # optitrack_host_name: "optitrack"
- qualisys_host_name: "192.168.5.21"
- qualisys_base_port: 22222
- # vrpn_host_name: "vicon"
-
- save_point_clouds_path: "" # leave empty to not write point cloud to file
 
+ save_point_clouds_path: "" # leave empty to not write point cloud to file
 
  numMarkerConfigurations: 1
  markerConfigurations:

src/motion_capture_tracking_node.cpp

@@ -6,21 +6,7 @@
 #include <sensor_msgs/PointCloud.h>
 
 // Motion Capture
-#ifdef ENABLE_VICON
-#include <libmotioncapture/vicon.h>
-#endif
-#ifdef ENABLE_OPTITRACK
-#include <libmotioncapture/optitrack.h>
-#endif
-#ifdef ENABLE_PHASESPACE
-#include <libmotioncapture/phasespace.h>
-#endif
-#ifdef ENABLE_QUALISYS
-#include <libmotioncapture/qualisys.h>
-#endif
-#ifdef ENABLE_VRPN
-#include <libmotioncapture/vrpn.h>
-#endif
+#include <libmotioncapture/motioncapture.h>
 
 // Object tracker
 #include <libobjecttracker/object_tracker.h>
@@ -37,68 +23,12 @@ int main(int argc, char **argv)
 
  ros::NodeHandle nl("~");
 
- std::string motionCaptureType;
+ std::string motionCaptureType, motionCaptureHostname;
  nl.param<std::string>("motion_capture_type", motionCaptureType, "vicon");
+ nl.param<std::string>("motion_capture_hostname", motionCaptureHostname, "localhost");
 
  // Make a new client
- libmotioncapture::MotionCapture* mocap = nullptr;
- if (false)
- {
- }
-#ifdef ENABLE_VICON
- else if (motionCaptureType == "vicon")
- {
- std::string hostName;
- nl.getParam("vicon_host_name", hostName);
- mocap = new libmotioncapture::MotionCaptureVicon(hostName,
- /*enableObjects*/ true,
- /*enablePointcloud*/ true);
- }
-#endif
-#ifdef ENABLE_OPTITRACK
- else if (motionCaptureType == "optitrack")
- {
- std::string hostName;
- nl.getParam("optitrack_host_name", hostName);
- mocap = new libmotioncapture::MotionCaptureOptitrack(hostName);
- }
-#endif
-#ifdef ENABLE_PHASESPACE
- else if (motionCaptureType == "phasespace")
- {
- std::string ip;
- int numMarkers;
- nl.getParam("phasespace_ip", ip);
- nl.getParam("phasespace_num_markers", numMarkers);
- std::map<size_t, std::pair<int, int> > cfs;
- cfs[231] = std::make_pair<int, int>(10, 11);
- mocap = new libmotioncapture::MotionCapturePhasespace(ip, numMarkers, cfs);
- }
-#endif
-#ifdef ENABLE_QUALISYS
- else if (motionCaptureType == "qualisys")
- {
- std::string hostname;
- int port;
- nl.getParam("qualisys_host_name", hostname);
- nl.getParam("qualisys_base_port", port);
- mocap = new libmotioncapture::MotionCaptureQualisys(hostname, port,
- /*enableObjects*/ true,
- /*enablePointcloud*/ true);
- }
-#endif
-#ifdef ENABLE_VRPN
- else if (motionCaptureType == "vrpn")
- {
- std::string hostname;
- int port;
- nl.getParam("vrpn_host_name", hostname);
- mocap = new libmotioncapture::MotionCaptureVrpn(hostname);
- }
-#endif
- else {
- throw std::runtime_error("Unknown motion capture type!");
- }
+ libmotioncapture::MotionCapture *mocap = libmotioncapture::MotionCapture::connect(motionCaptureType, motionCaptureHostname);
 
  // prepare point cloud publisher
  ros::Publisher pubPointCloud = nl.advertise<sensor_msgs::PointCloud>("pointCloud", 1);