2.  A FPS (First Person Shooter) game from 1999  The source code was released in 2005  It is entirely written in C and ASM

3.  It is a simple game  It requires the user only to move and shoot  Ideal to demonstrate motion capturing that is applicable to military robot control

4.  We have an SVN repository located at: http://www.assembla.com/spaces/ioquake3moc ap/trac_subversion_tool  The timeline can be seen here: http://trac.assembla.com/ioquake3mocap/timeli ne?from=01/08/2011&daysback=200  It is based on IOQuake3: http://ioquake3.org/

5.  Domi downloaded and compiled several versions and tempered with them until they worked, then added the threading and code stubs and made the code available to everyone else  The other teams then contributed the algorithms and the interface with OpenCV  The motion capturing code can be found here: http://trac.assembla.com/ioquake3mocap/brow ser/code/client/cl_mocap.c

6.  Once you join the game, you can toggle motion capturing on and off via key-press  A thread, parallel to the rendering thread, retrieves images from the cameras and scans them for the single-colored targets  Another algorithm converts the two-dimensional target information into two three-dimensional points and uses that to determine yaw and pitch angles  The rendering thread gives control to the motion- capturing code in every iteration  During rendering, the angles are copied into the client state, in a thread-safe manner