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IMMERSIVE TECHNOLOGY

PROJECT 01 / 07

Slacker Apps

Real-time tracking, synchronized cameras and dome projection.

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OVERVIEW

About the project

At Slacker Apps, I developed real-time software for immersive experiences, spanning multi-camera body tracking, camera integration and calibration, and dome projection. The work combined hardware interfaces, synchronization pipelines, computer vision and real-time rendering in Unity and C#.

TECHNICAL FOCUS

Tools & areas

UnityC#TrackingCalibrationProjection

SELECTED SYSTEMS

Projects at Slacker Apps

A closer look at the applications and technical systems behind this work.

01 / REAL-TIME BODY TRACKING

Multi-Camera Skeleton Tracking

A Unity and C# application that combines body observations from multiple depth cameras into consistent 3D person tracks.

The system maps detected bodies into a shared calibrated space, associates observations across cameras and over time, and fuses joint measurements into a unified skeleton. It also manages track lifecycles, smooths tracked positions and provides a configurable 3D visualization and diagnostic interface.

Engineering highlights

  • Aligned multi-camera body observations using per-device calibration transforms.
  • Combined Kalman-based motion prediction with pose similarity for person association and track continuity.
  • Fused body-joint measurements using detection confidence and camera measurement uncertainty.
  • Managed track assignment, reactivation and release, including room-bound tracking and smoothed follower positions.
UnityC#Multi-cameraPose fusionKalman filtering
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02 / CAMERA SYSTEMS & COMPUTER VISION

Multi-Camera Calibration & Capture Pipeline

A modular camera integration and calibration system for coordinating multiple Orbbec sensors in Unity.

I reworked the Orbbec SDK integration and built a reusable camera management and processing pipeline, handling device initialization, frame ownership and time-based stream synchronization. The calibration application uses OpenCV-based ChArUco detection to estimate relative camera poses and ArUco markers to align the system with the physical floor. Calibration progress, quality diagnostics and spatial transforms are exposed through the application UI, with results saved to JSON for use by tracking software.

Engineering highlights

  • Reworked Orbbec camera integration around reusable device interfaces, frame buffers and controlled resource lifetimes.
  • Implemented camera data pipelines with frame matching across color/depth streams and multiple devices, including buffer pooling and a zero-copy path.
  • Built ChArUco-based relative camera calibration with rolling observations, outlier rejection, stability checks and quality metrics.
  • Developed ArUco floor alignment, calibration diagnostics and JSON export of camera-to-camera and floor transforms.
UnityC#OrbbecOpenCVChArUco / ArUcoMulti-camera sync
ChArUco calibration board detected with numbered corners and tracking markers.
ChArUco marker detection
Camera Sync diagnostic panel with readiness, coverage, quality, stability and inlier ratio indicators.
Camera synchronization diagnostics
ArUco floor marker with a three-dimensional coordinate axis overlay for floor calibration.
ArUco floor and axis alignment

03 / IMMERSIVE RENDERING & CALIBRATION

Dome Projection & Warp Map Calibration

A Unity HDRP projection and calibration system for displaying real-time 3D content on curved dome surfaces.

The system generates wide-angle dome imagery using configurable camera capture and projection methods. An interactive warp-map editor compensates for the physical projection setup by adjusting a calibration grid, baking its mapping into a UV lookup texture and applying it to the final output. Calibration data can be saved and loaded for reuse at runtime.

Engineering highlights

  • Developed HDRP dome rendering paths using cubemap and multi-camera capture, with configurable angular coverage and overlap blending.
  • Built interactive warp-grid calibration tools with point, row and column editing, smoothing and symmetry controls.
  • Converted calibrated grids into UV lookup textures for fullscreen image warping, with JSON save/load and runtime application.
  • Added visual calibration patterns and remapped UI pointer coordinates to match the warped output.
UnityC#HDRPDome projectionWarp mappingCalibration
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Physical curved projection dome with an illuminated calibration grid, axis markers and a calibration interface.
Physical dome projection during warp-map calibration

MORE WORK

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