Tinkerings with joint localization from optical marker motion capture system.
MarkerGroups.py: Segment markers into groups that are attached to rigid bodies through spectral clustering. Works well and fast for a small number of rigid bodies, but is yet too slow for full body marker sets.
MarkerTrajectoryBases.py: Estimate joint trajectories (Center of Rotation) connecting marker groups. Computes the minimum spanning tree, so only a minimum subset of groups are considered to be connected and not all pairs of groups. Due to the method this only works "offline" and not in a live session.
EstimateSphereDemo.py: Demonstrate the principle of estimating the CoR by assuming marker positions are distributed on a spherical surface.