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bjarque / t265_UE

Intel Realsense t265 into Unreal Engine
MIT License
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FreeD Protocol support..? #3

Open arjun-k-r opened 3 years ago

arjun-k-r commented 3 years ago

@bjarque , can we modify tracker.py so that it can broadcast data as per FreeD Protocol, so that we can add tracker in UE using Live Link Freed Source without enhanced plugin.

FYI.. Description of the FreeD protocol http://docs.vizrt.com/tracking-hub-guide/1.0/description_of_the_freed_protocol.html https://docs.unrealengine.com/4.27/en-US/AnimatingObjects/SkeletalMeshAnimation/LiveLinkPlugin/LiveLinkFreeD/

Awaiting for your reply, Thanks.

bjarque commented 3 years ago

Thanks, ill look into it. Would make good sense

bjarque commented 3 years ago

Ok looked into it, and got FreeD protocol working sort of, but the issue with that protocol, is that it sends euler angles(Yaw/pitch/roll), which is prone to gimbal lock. That gives issues sometimes where the rotations aren't correct. It would require a blueprint or other custom code into the project, and then its a question about what "external" stuff we want for this to work. A plugin, or a blueprint with a custom workflow for Livelink? The good thing about the enhanced plugin is that it already takes rotational parameters as Quaternions, which isn't susceptible to gimbal lock.

arjun-k-r commented 3 years ago

@bjarque , can you please upload the FreedD Protocol working code , wanted to look into it and will see what best can be done with it.

bjarque commented 3 years ago

Sure, you can try, made a freed branch of this repo

idoment commented 3 years ago

@bjarque , hi i am working same kind of , but using Pi-IMU 6050 6dof python instead of RealSense hardware . Your help is required in converting imu data to FreeD.

https://github.com/idoment/Pi-IMU-data-to-Freed ( mygithub link )

Thanks -

bjarque commented 3 years ago

Funny, i actually did that over a year ago, but I think I came to the conclusion that I needed the magnetometer as well for correct tracking, so i bought an MCU9250, which I didn't really get to test. Maybe ill get time to look at it later this year. Now i want to finish the apriltags zero point and ndisplay compability first. You can see how you make FreeD data and how to send it on the branch of this repo

prasith77 commented 2 years ago

@bjarque hopefully you can release Free-D version.

bjarque commented 2 years ago

Did you see the freeD branch of this https://github.com/bjarque/t265_UE/blob/freed/README.md

prasith77 commented 2 years ago

I just saw. sorry I came here by a direct link from google search so I didn't see the freeD branch. I will try to use it with VIZRT engine when I receive my T265. Thank you very much.

prasith77 commented 2 years ago

@bjarque May you help me. Everything works just fine in UE5 both JSON and Free-D. But Free-D is not work in VIZRT, I got this Error message "Error Checksum of the data is wrong! Packages timing instable!"

bjarque commented 2 years ago

I don’t have access to a viz system, but maybe there’s an error in calculating the checksum. I can’t test my fix until in a few weeks since I’m travelling…

prasith77 commented 2 years ago

Thank you for prompted reply. Have a nice trip.

bjarque commented 2 years ago

I don’t have access to a viz system, but maybe there’s an error in calculating the checksum. I can’t test my fix until in a few weeks since I’m travelling…

ons. 20. jul. 2022 kl. 07.35 skrev prasith77 @.***>:

@bjarque https://github.com/bjarque May you help me. Everything works just fine in UE5 both JSON and Free-D. But Free-D is not work in VIZRT, I got this Error message "Error Checksum of the data is wrong! Packages timing instable!"

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