Data Collection from OptiTrack Motion Capture Cameras

This repository provides tools for visualizing the motion of a rigid body tracked by an optical motion capture system. It reads CSV data exported from Motive, extracts robot_link marker trajectories, computes the center of mass (CoM), and renders a 3D plot with initial and final configurations outlined.

Structure

datacollect/
├── data/
├── main.py                              # Main visualization script
├── LICENSE
└── README.md

Usage

Make sure your CSV file is placed in the ./data/ directory. Then run:

python main.py

Features

• Parses and filters only robot_link:Marker columns
• Removes duplicated markers
• Computes center of mass across frames
• Visualizes:
  • Marker trajectories
  • Center of Mass trajectory
  • Polygon mesh at the initial and final marker positions

Dependencies

Make sure the following Python libraries are installed:

pip install pandas numpy matplotlib

Output Example

• Each marker trajectory is drawn in a light color.
• The CoM is shown in black.
• Start shape (polygon): green
• End shape (polygon): red

Notes

• CSV format must follow Motive’s export style with metadata in the first few rows.
• Only robot_link:Marker entries are used to compute rigid body motion.

License

MIT License (2025) – Aaron John Sabu