Low-level hardware abstraction layer for reading data from a Vicon motion capture system.
Augmented by the HSL at UCSC to support all of the rotations available from the Vicon SDK.
Special Thanks to the Novel Engineering of Swarm Technology (NEST) lab at Worcester Polytechnic Institute for providing a reference usage of the Vicon APIs, and providing us with access to their Vicon systems for testing this crate.
The documentation for this crate can be
generated by running cargo doc; the
generated docs will be written to release/.
Although the actual Vicon data stream SDK
can only be used with an actual Vicon
data stream, this crate exposes a single
HasViconHardware trait which can be
compiled on any host.
This trait can be used to create mock implementations of the Vicon data stream, which systems can use for integration testing or simulation when an actual Vicon is unavailable.
Install nix if it is not installed already.
Run nix develop to enter a shell with the required dependencies.
Before building this crate, or a Crate depending on this crate, you need to:
- Install Rust.
- Install Clang.
Once these tools are installed, you can build this crate by running:
cargo build --release
To run this crate (or crates depending on it),
you will need to ensure all the .so files
in vendor/libvicon are
available on your LD_LIBRARY_PATH.
Copyright 2024 Alicorn Systems, Inc.
Licensed under the GNU Affero General Public License version 3, as published by the Free Software Foundation. Refer to the license file for more information.
The files within vendor/ retain their original copyrights
and licenses, and are included in this repository to simplify
the build process for downstream users.