HL2 Teleop (WS PointCloud Streamer) for Hololens using Unity

This package contains the general code for streaming pointclouds from a Websocket Server, I am currently also adding displaying an video stream.

How to:

• Open this package using Unity.
• Install NativeWebsocket via UPM: https://github.com/endel/NativeWebSocket
• Install MsgPack via unitypackage: https://github.com/neuecc/MessagePack-CSharp

Files:

PointCloudStreaming/PointCloudConnector.cs

This File connects to a WS Server, expecting PointCloud Messages (or soon Image Messages). Just add it to an game object and fill in the required information.

PointCloudStreaming/StereoPointCloudRenderer.cs

• This file attempts to display the PointCloud from a PointCloudConnector.
• Fill in the required information.
  (The unity point size is only used if the pointsize of the message is smaller than 0)
• Choose a Shader from the Shader folder. (I recommend CubesFromQuads.shader)

WebSocketTest:

Example files showing necessary format for Unity.

Charuco or Aruco based Positioning of PointCloud

You can simply use this repository (where I added Charuco detection), to detect the fiducial in the camera view. As modified object you can simply use the PointCloud of the HL2 Teleop Unity package.