Insight A virtual reality project By Brian Spence Svyatoslav Markeyev Senior Project Computer Engineering Department California Polytechnic State University San Luis Obispo June 2013 1. Table of Contents List of Figures ................................................................................................................................................ 6 List of Tables ................................................................................................................................................. 7 Acknowledgements ....................................................................................................................................... 7 Abstract ......................................................................................................................................................... 7 1. Introduction .............................................................................................................................................. 8 1.1 Motivation ........................................................................................................................................... 8 1.2 Overview ............................................................................................................................................. 8 2. Background ............................................................................................................................................... 8 2.1 Oculus Rift ........................................................................................................................................... 8 2.2 UDK ..................................................................................................................................................... 9 2.3 Real Time Kinematics Library .............................................................................................................. 9 2.3.1 Real Time Kinematics ................................................................................................................... 9 2.3.2 RTKLIB Software ........................................................................................................................... 9 3. Requirements .......................................................................................................................................... 10 3.1 Desired Features and Justifications .................................................................................................. 10 3.2 Engineering Specifications ................................................................................................................ 10 4. Design ...................................................................................................................................................... 11 4.1 Overview ........................................................................................................................................... 11 4.2 UDK ................................................................................................................................................... 13 4.2.1 Overview .................................................................................................................................... 13 4.2.2 UDK TCP server .......................................................................................................................... 13 4.2.3 Commands ................................................................................................................................. 14 4.3 IMU.................................................................................................................................................... 14 4.3.1 Overview .................................................................................................................................... 14 4.3.2 Hardware ................................................................................................................................... 15 4.3.3 Software ..................................................................................................................................... 15 4.4 GPS .................................................................................................................................................... 15 4.4.1 Overview .................................................................................................................................... 15 4.4.2 RTK Library ................................................................................................................................. 16 2 4.4.3 Antenna and Receiver ................................................................................................................ 16 4.4.4 Base station and Raspberry PI.................................................................................................... 16 4.5 Middleware ....................................................................................................................................... 16 4.5.1 Overview .................................................................................................................................... 16 4.5.2 Filtering ...................................................................................................................................... 16 4.6 Rift ..................................................................................................................................................... 17 5. 5. Construction and Problems Encountered ........................................................................................... 17 5.1 Overview ........................................................................................................................................... 17 5.2 GPS .................................................................................................................................................... 17 5.3 IMU.................................................................................................................................................... 18 5.4 UDK ................................................................................................................................................... 18 6. Development and Regular Use ............................................................................................................... 19 6.1 Powering the Oculus Rift .................................................................................................................. 19 6.1.1 Power Requirements ................................................................................................................. 19 6.1.2 Hardware Modifications ............................................................................................................ 19 6.2 Project Source Code and Dependencies ........................................................................................... 20 6.3 Setting up the Environment .............................................................................................................. 21 6.3.1 Windows .................................................................................................................................... 21 6.3.2 Java Sun ...................................................................................................................................... 21 6.3.3 Oculus Rift .................................................................................................................................. 21 6.3.4 YEI Threespace Sensor Drivers ................................................................................................... 21 6.4 Setting up the Production Environment ........................................................................................... 21 6.4.1 Install Packaged UDK .................................................................................................................. 21 6.4.2 Install Insight Project .................................................................................................................. 21 6.5 Setting up the Development Environment ....................................................................................... 22 6.5.1 Integrated development environments ..................................................................................... 22 6.5.2 Middleware ................................................................................................................................ 22 6.5.3 Unreal Development Kit ............................................................................................................. 22 6.5.4 IMU Data Com ............................................................................................................................ 22 6.5.5 UDK Assistant ............................................................................................................................. 23 6.6 Building RTKLIB Components ............................................................................................................ 23 6.6.1 Windows .................................................................................................................................... 23 3 6.6.2 Getting RTKLIB............................................................................................................................ 23 6.6.3 Compiling ..................................................................................................................................