Vicon Pegasus Product Guide

Vicon Pegasus Product Guide
Contents
About this guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Learn about Vicon Pegasus . . . . . . . . . . . . . . . . . . . . . . . . . 4
Introducing Vicon Pegasus . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Scene and camera manipulation . . . . . . . . . . . . . . . . . . . . . . . 6
New features of Vicon Pegasus 1.2.1 . . . . . . . . . . . . . . . . . . . . 7
New features of Vicon Pegasus 1.2 . . . . . . . . . . . . . . . . . . . . . 8
New features of Vicon Pegasus 1.1 . . . . . . . . . . . . . . . . . . . . . . 9
Vicon Pegasus user interface . . . . . . . . . . . . . . . . . . . . . . . 10

Vicon Pegasus window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Subjects and Solvers pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Attributes pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Vicon Pegasus menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Vicon Pegasus toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Using Vicon Pegasus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Solving and retargeting for media applications (Shogun or
Blade) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
© Copyright 2016–2017 Vicon Motion Systems Limited. All rights reserved.

Vicon Motion Systems Limited reserves the right to make changes to information in this document without notice.
Companies, names, and data used in examples are fictitious unless otherwise noted. No part of this publication may be
reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic or mechanical, by
photocopying or recording, or otherwise without the prior written permission of Vicon Motion Systems Ltd.
Vicon® is a registered trademark of OMG plc. Vicon Blade™, Vicon Control™, Vicon Lock™, Vicon Lock+™, Vicon Nexus™,
Vicon MX™, Vicon Pegasus™, Vicon Shogun™, Vicon Studio™, T-Series™, Vicon Tracker™, Vicon Vantage™, Vicon Vero™,
Vicon Vertex™ and Vicon Vue™, are trademarks of OMG plc.
VESA® is a registered trademark owned by VESA (www.vesa.org/about-vesa/). Other product and company names herein may
be the trademarks of their respective owners.
Vicon Motion Systems is an OMG plc company. Email: support@vicon.com Web: http://www.vicon.com
Solving from rigid bodies (Tracker) – Pegasus Advanced only
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Solving virtual cameras (Solving from props) . . . . . . . . . . . . 38
Tuning the solve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Saving and using templates . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Running multiple instances of Pegasus and run-time solvers
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Unreal plug-in integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Unity plug-in integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Vicon Pegasus shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Third-party legal notices . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Autodesk FBS SDK legal notice . . . . . . . . . . . . . . . . . . . . . . . 56
Boost legal notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Qt legal notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Further resources for Vicon Pegasus . . . . . . . . . . . . . . . . 67

Vicon Pegasus video tutorials . . . . . . . . . . . . . . . . . . . . . . . . . 68
Contact Vicon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
© Copyright 2016–2017 Vicon Motion Systems Limited. All rights reserved.

Vicon Motion Systems Limited reserves the right to make changes to information in this document without notice.
Companies, names, and data used in examples are fictitious unless otherwise noted. No part of this publication may be
reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic or mechanical, by
photocopying or recording, or otherwise without the prior written permission of Vicon Motion Systems Ltd.
Vicon® is a registered trademark of OMG plc. Vicon Blade™, Vicon Control™, Vicon Lock™, Vicon Lock+™, Vicon Nexus™,
Vicon MX™, Vicon Pegasus™, Vicon Shogun™, Vicon Studio™, T-Series™, Vicon Tracker™, Vicon Vantage™, Vicon Vero™,
Vicon Vertex™ and Vicon Vue™, are trademarks of OMG plc.
VESA® is a registered trademark owned by VESA (www.vesa.org/about-vesa/). Other product and company names herein may
be the trademarks of their respective owners.
Vicon Motion Systems is an OMG plc company. Email: support@vicon.com Web: http://www.vicon.com
Pegasus
Product
Guide
About this guide
This guide provides basic information to enable you to start using your Vicon Pegasus
system. It begins by giving an overview of Pegasus and how it works. It then describes
the elements of Pegasus and how they are used, gives an overview of standard
workflows for performing common tasks, and lists keyboard shortcuts.
Vicon Motion Systems Ltd. 14-Dec-2017 Page 3 of 69

Pegasus
Product
Guide
Learn about Vicon Pegasus
The following documentation (online help and PDF) is included in the current Vicon
Pegasus release:
Document Description
Vicon Pegasus Provides basic conceptual information, software description,

Product Guide (this instructions for common workflows, and a list of shortcuts.
manual)
For information on the latest updates, see New features of
Vicon Pegasus on page 7.
PDF and online help installed with Pegasus.
Vicon Pegasus Available from YouTube and from Vicon Support. For the list
tutorials of tutorials, see Vicon Pegasus video tutorials on page 68.
The PDF (Adobe Reader version 8.0 or later) is installed as part of your Vicon Pegasus
software installation.
You can also obtain this, and other Vicon documents, from docs.vicon.com.

Pegasus
Product
Guide
Introducing Vicon Pegasus
Pegasus is a real-time solving application that takes input from Vicon servers (Shogun
/Blade/Tracker), solves the motion capture data on custom avatars and produces solved
animation on the avatars in real time for rendering in game engines or virtual
environments such as Siemens Jack and Dassault Systèmes DELMIA.
A Pegasus graphical user interface is used for solver setups. The real-time solvers use
IKinema RunTime solving engines.
Important
To use Pegasus 1.2 and above, your processor must support SSE4.1.

Pegasus
Product
Guide
Scene and camera manipulation

The following table lists the commonly used mouse and keyboard combinations used to
work with scenes in Vicon Pegasus:
Action Mouse/keyboard
Rotate the scene ALT+Left button
Zoom in and out ALT+Right button (or middle button/wheel)
Pan ALT+left and right buttons

Pegasus
Product
Guide
New features of Vicon Pegasus 1.2.1

The following changes were made to Pegasus 1.2.1:
Apply global scale factor on streaming
A new feature enables you to apply the global scale factor on streaming. If the skeleton
is globally scaled to fit the subject data, you can choose to stream skeletal data at the
original size or at the size of the subject. Animation data is scaled accordingly.
Issues addressed in Vicon Pegasus 1.2.1

Other updates to the FBX libraries enable you to import files that were created in
newer applications into Pegasus 1.2.1.

Pegasus
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New features of Vicon Pegasus 1.2

The following new features were added to Pegasus 1.2:
Templating improvements
Save / Apply templates can now save/restore tasks.
Added support for rigid body rigs to the template system.
Added auto-connection based on name similarity between bones and rigid bodies
(uses the same algorithm as Associate Character).
Issues addressed in Vicon Pegasus 1.2

In certain circumstances, data could be streamed from Pegasus in arbitrary units.
Pegasus 1.2 ensures that data coming out of Pegasus is always in mm (as per the
DataStream SDK specification), regardless of the original target skeleton units. This
may result in data now having to be scaled in the client application, depending on its
internal units setting or model scale.

Pegasus
Product
Guide
New features of Vicon Pegasus 1.1

The following new features were added to Pegasus 1.1:
Bone scaling
To use bone scaling:
1. Select one or more bones from the skeleton.
2. On the Edit menu click Bone Length.
3. Set the factor that you want to use for scaling (valid range is 0.001 to 2) and
click OK.
Every selected bone plus their siblings is scaled. (In most skeletons with hands
and feet, the selected bones will not have siblings.)
Note
Undo and redo is supported, so you can safely experiment with the scaling
factor.
Rigid body solving

The template engine now supports rigid body solving, using the same process as
Pegasus 1.0.
Media templates (skeleton to skeleton) also remember tasks, in addition to retarget

links.
Old template files are still recognized and usable.

Pegasus
Product
Guide
Vicon Pegasus user interface
The Vicon Pegasus user interface includes the following elements:
Vicon Pegasus window on page 11
Subjects and Solvers pane on page 12
Attributes pane on page 13
Vicon Pegasus menus on page 17
Vicon Pegasus toolbar on page 23

Pegasus
Product
Guide
Vicon Pegasus window

The Pegasus user interface consists of: Viewport, Subjects and Solvers pane, and
Attributes panes, menus, and a toolbar.
For more information, see:
Subjects and Solvers pane on page 12
Attributes pane on page 13
Vicon Pegasus menus on page 17
Vicon Pegasus toolbar on page 23

Pegasus
Product
Guide
Subjects and Solvers pane
The Subjects and Solvers pane displays the hierarchy of all characters loaded in the
scene as well as all Position Tasks and Orientation Tasks.

Pegasus
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Guide
Attributes pane
The Attributes pane contains the following tabs:
Transforms tab on page 13
Retarget tab on page 14
Joints tab on page 15
IKinema tab on page 16
Transforms tab
In the Attributes pane, the Transforms tab displays translation, rotation and scale
attributes for the selected objects. Where applicable, you can change attributes by
inputting numerical values.

Pegasus
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Guide
Retarget tab
When skeletons and rigid bodies are linked to the target avatar, the connections are
displayed on the Retarget tab in the Attributes pane. The columns’ order corresponds
to:
Source bone Target bone Type of connection
The type of connection:
ret - for FK (Forward Kinematics) retargeting mode
rotl - for Orientation Task
pos - for Position Task

Pegasus
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Guide
Joints tab
In the Attributes pane the Joints tab enables you to disable or enable a single joint in
the solver by clearing or selecting Joints Enabled in the Solver. Use this check box to
remove roll bones or other bones that are not driving meshes.
You can also disable a full hierarchy in the solver by clearing Joints Hierarchy Enabled
in the Solver. The selected joint remains in the solver. Use this check box to remove
solving for fingers, face rigs, and any auxiliary bones in the target.
Presets include settings that can be applied to the selected joint.
Retargeting gain defines the importance of the source animation from Shogun or Blade
skeleton for the target. 1 corresponds to 100% and 0 to no influence.
Stiffness defines the mobility of the bone. Full mobility corresponds to stiffness 0 and
zero mobility is stiffness of one.

Pegasus
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Guide
IKinema tab
IKinema uses Position Tasks and Orientation Tasks in addition to the animation pose to
keep the solved avatar closed to the original mocap in world space.
Position Tasks keep the position of the bones in world space.
Orientation Tasks keep the orientation of the bone to the source in world space.
The first two options enable and disable the effect of the task on the bone.
Tasks presets include several options for tuning the importance of the IK constraint
(Task). You can choose from low precision to high precision.
Weight along X, Y, and Z degrees of freedom for the selected task can be changed from
the Weight attribute. By default the weight is set to 1 for all tasks. Higher values put
more importance on this task.
Solver iterations define how many steps the solver will make to find a solution. Default
for runtime is set to 150.

Pegasus
Product
Guide
Vicon Pegasus menus

The following menus are available in Vicon Pegasus.
File menu
The following options are available on the File menu:
Option Description
New project Start a new Pegasus project
Open project Open a saved project
Save Save and overwrite the project
Save As Save a scene as a new project
Import FBX Load characters in the scene. You can also load environments,
prop FBX objects, or any other data.
Export FBX Export selected character as a new FBX
Exit Close the application.

Pegasus
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Guide
Edit menu
The following options are available on the Edit menu:
Option Description
Undo Undo a command.
Redo Redo a command.
Only a subset of undo/redo actions are currently

supported. The supported actions are: use of manipulators
(rotate, move, scale); association of joints to tasks and
associations of rigid bodies to tasks; delete on tasks.
Associate Character Link characters for retargeting, Shogun (or Blade) only.
This option scales the mocap data to the target avatar.
The algorithm links characters for retargeting and solving.
Based on naming conventions, bones are automatically
linked. The link also performs automatic scaling of the
source data and translation of the target avatar to overlap
the source data. The algorithm automatically excludes
zero length bones from the solver.
Connect without Link as above but without scaling of the source avatar.
scaling
Apply template Apply a pre-stored association between source and target

bones. Before executing the command, you need to select
any bone from the target avatar.
Save template Select a bone from the target and run this command to
save the association for future use with Apply template.
Group selection Select a number of rigid bodies from Tracker and group as
(Pegasus Advanced a single object (character) for rigid body solving.
only)

Pegasus
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Option Description
Scale and move target Used for Tracker solving. This option scales the target
to rigid bodies avatar (V6 or Jack or any custom avatar) and moves
(Pegasus Advanced /matches it to the rigid bodies.
only)
Scale and move rigid Used for Tracker solving. This option scales the rigid
bodies to target bodies to match to the target avatar (V6 or Jack or any
(Pegasus Advanced custom avatar).
only)
Start RT preview Start the real-time solving server.
Start RT detached Start the real-time solving server as a detached

standalone application. You can close the Pegasus user
interface and leave only the real-time server running.
In detached mode, the user interface and the real-time

pipeline are detached so that you can close the UI preview
and leave the real-time solver running. See also Running
multiple instances of Pegasus and run-time solvers.
Rotate Character 90 Select the group locator of any character and select this
option to rotate with a predefined angle of 90 degrees
clockwise.
Rotate Character -90 Select the group locator of any character and select this
option to rotate with a predefined angle of 90 degrees
anti clockwise.
Rotate Character 180 Select the group locator of any character and select this
option to rotate with a predefined angle of 180 degrees.
Delete scene Delete from the project anything that is currently in the
scene, such as props, characters, rigid bodies, etc.

Pegasus
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View menu
The following options are available on the View menu:
Option Description
Center camera on selection Focus the camera on the selected object so that all
(shortcut F) rotations are about this object.
Front, Back, Left, Right, Top, Switch to a predefined orientation of the camera
Bottom, Perspective with the appropriate view.
Draw skeletons Hide or show drawing of skeletons in the scene.
Draw tasks Hide or show drawing of IKinema tasks in the scene.
Joint Size Change the thickness of joints and bones for display
purposes.
Settings menu
The following options are available on the Settings menu:
Options Description
Server Opens the Server settings dialog box, where you can adjust settings for
the incoming data from Shogun, Blade or Tracker.
Output Opens the Output settings dialog box, where you can adjust settings for
the stream out server on output from Pegasus Real Time.

Pegasus
Product
Guide
Settings dialog boxes

When you click the options on the Settings menu, Vicon Pegasus enables you to define
the following settings:
Server settings
The Server Settings dialog box enables you to define Vicon servers. In this dialog box,
you specify:
The IP number of the Tracker/Shogun/Blade applications
The port for streaming
The coordinate system, which is autodetected for versions of Shogun, or Blade later
than 3.3, but must be explicitly set for previous releases, depending on the
coordinate system set in Blade.
These settings are saved for the session.

Pegasus
Product
Guide
Output settings
The Output Settings dialog box enables you to define the server side of Pegasus
RunTime. In this dialog box, you define:
The interface (Data Stream or VRPN)
The port for streaming

Pegasus
Product
Guide
Vicon Pegasus toolbar
The Pegasus toolbar contains the following icons:
Name Icon Description

/function
Select tool Selects objects in the viewport
Move tool Moves objects in the viewport. With Pegasus 1.2

and later, you can click and hold the button to
choose the coordinate system in which to
transform the pose: World, Parent, or Local.
Rotate tool Rotates objects in the viewport. With Pegasus 1.2

and later, you can click and hold the button to
choose the coordinate system in which to
transform the pose: World, Parent, or Local.
Scale tool Scales objects in the viewport
Associate characters For Shogun/Blade solving: Links characters for

(default action) retargeting and solving. Based on naming
conventions, bones are automatically linked. The
link also performs automatic scaling of the source
data and translation of the target avatar to
overlap the source data. The algorithm
automatically excludes zero length bones from
the solver.
Connect For Shogun/Blade solving: Enables you to link the

using source to a target using a predefined template of
template bone matching saved on local hardware.

Pegasus
Product
Guide

/function
Connect For Shogun/Blade solving: This is same as the

without default action but with this option the source
scaling data is not scaled. This option can be used to
associate props to joints, for example a virtual
camera.
Scale and For Tracker solving: Scales the target avatar (V6
move or Jack or any custom avatar) and move/match it
target to to the rigid bodies.
rigid
bodies
Scale and For Tracker solving: Scales the rigid bodies to

move rigid match to the target avatar (V6 or Jack or any
bodies to custom avatar).
target
Disconnect selected For Shogun/Blade solving: Disconnects the

joints (default action) selected joints from the retargeting setup.
Disconnect For Shogun/Blade solving: Disconnects all joints

selected and disables the retargeting.
skeleton
Link bone to bone For Shogun/Blade solving: Enables you to link a

manually source bone to a target bone. This is typically
needed when the automatic association does not
recognize the associations by name.
Link bone to task For Shogun, Blade and Tracker: Enables you to
(position and link a source bone or a rigid body as an IK
orientation constraints) constraint to a target bone in terms of Position
and Orientation Tasks.

Pegasus
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Guide

/function
Create For Shogun, Blade and Tracker: Link a source

Position bone or a rigid body as an IK constraint to a target
Task bone in terms of Position Task.
Create For Shogun, Blade and Tracker: Link a source

Orientation bone or a rigid body as an IK constraint to a target
Task bone in terms of Orientation Task.
Snap For Shogun/Blade only: Link a source bone as an

hands to IK constraint to a target bone by maintaining zero
source offset between the source and the target. This is
typically used for maintaining world position and
match of hands.
Snap feet For Shogun/Blade only: Link a source bone as an

to source IK constraint to a target bone by maintaining zero
offset between the source and the target. This is
typically used for maintaining world position and
match of feet.
Delete position and For Shogun, Blade and Tracker: Removes and
Orientation Tasks deletes the Position and Orientation Tasks.
Delete For Shogun, Blade and Tracker: Removes and

Position deletes only the Position Task.
Task
Delete For Shogun, Blade and Tracker: Removes and

Orientation deletes only the Orientation Task.
Task
Import characters from For Shogun, Blade and Tracker: Imports a pose
Vicon datastream from Shogun, Blade or Tracker.
Start/Stop Pegasus Starts the real-time solving server.

RunTime

Pegasus
Product
Guide

/function
Start Starts the real-time solving server as a detached

Pegasus standalone application. You can close the UI
RunTime interface and leave only the real-time server
detached running.
In detached mode, the UI and the real-time

pipeline are detached so that you can close the UI
preview and leave the real-time solver running.

Pegasus
Product
Guide
Using Vicon Pegasus
The following topics are covered:
Solving and retargeting for media applications (Shogun or Blade) on page 28
Solving from rigid bodies (Tracker) –- Pegasus Advanced only on page 33
Solving virtual cameras (Solving from props) on page 38
Tuning the solve on page 40
Saving and using templates on page 41
Running multiple instances of Pegasus and run-time solvers on page 42
Unreal plug-in integration on page 43
Unity plug-in integration on page 51
Video tutorials for Vicon Pegasus are also available. For information, contact Vicon
Support.

Pegasus
Product
Guide
Solving and retargeting for media applications

(Shogun or Blade)
To solve and retarget for Shogun or Blade:
1. On the File menu, click New project to start a new project.
2. In the Server settings dialog box, enter the server settings (IP number, port
number, and source server for Shogun or Blade).
3. On the toolbar, click Import characters from Vicon datastream . This loads a
skeleton in the scene. Click the button as many times as necessary to load the
correct pose for matching.

Pegasus
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Guide
4. On the File menu, click Import FBX to import the target avatar from an FBX file.
5. To match the source mocap data to the target avatar and position the avatar to
the mocap data:
a. Select 1 bone from the source data (the skeleton you imported in step 3)
and CTRL+select 1 bone from the target avatar you imported in step 4.
b. On the toolbar, click the Associate Characters button .
You can also match the source to the target without scaling or using pre-
stored templates. For more information, see Associate Characters in the
Vicon Pegasus toolbar table. on page 23
6. On the toolbar, click the Rotate tool .

Pegasus
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Guide
7. Adjust the match pose by manipulating the local rotation of bones of either the
source data or the target avatar.
8. Select the foot of the source avatar, CTRL+select the foot of the target avatar
and on the toolbar, click the Link bone to task button to create IKinema
Position and Orientation Tasks (IK constraints).
This will maintain the feet position and orientation in world space during solving.

Pegasus
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If required, you can also:
Maintain zero offset between the source and target feet bones by selecting
Snap feet to source.
Increase the importance of the IK constraints by increasing the Weight for the
selected task on the IKinema tab.
Note
When you manually associate target joints with source objects (joints or
rigid bodies) with Pegasus 1.2, you no longer need to ensure that they
are selected in the correct order.

Pegasus
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Guide
9. On the toolbar, click the Start/Stop Pegasus RunTime button to start the Real
Time IKinema solver.
10. If necessary, stop the RealTime pipeline and adjust match pose or solvers.

Pegasus
Product
Guide
Solving from rigid bodies (Tracker) – Pegasus

Advanced only
The following procedure applies only to users who have an Advanced Pegasus license.
To solve from Tracker rigid bodies:
1. On the File menu, click New project to start a new project.
2. In the Server settings dialog box, enter the server settings (IP number, port
number and Tracker input).
3. On the toolbar, click Import characters from Vicon datastream to import the
Tracker rigid bodies.

Pegasus
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4. To group the rigid bodies into a subject, select the bodies, then on the Edit menu,
click Group selection and in the dialog box, enter the name of the subject.
The new subject appears in the viewport.

Pegasus
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5. On the File menu, click Import FBX to import the target avatar from an FBX file.
This could be Jack, V6, or any other subject.
6. Select one rigid body from the grouped subject and CTRL+select the imported
avatar.
7. On the toolbar, click the Associate Characters button and then click Scale and
move target to rigid bodies. This matches the avatar to the imported rigid bodies.
8. If necessary, manually adjust the match pose using the Rotate tool .

Pegasus
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9. When the avatar is matched to the rigid bodies, start associating the bodies to
the skeleton. To do this:
a. Select the source (rigid body) then CTRL+select a bone and on the toolbar,
click the Link bone to task button to create an IKinema Position and
Orientation Task that will drive the body.
b. Continue associating the bodies to the skeleton. Typically, 9–11 rigid

bodies are required to set up a full body solve.
Note
When you manually associate target joints with source objects (joints or
rigid bodies) with Pegasus 1.2, you no longer need to ensure that they
are selected in the correct order.

Pegasus
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10. On the toolbar, click the Start/Stop Pegasus RunTime button to start the Real
Time IKinema solver.
Data starts streaming to the run-time pipeline and UI.

Pegasus
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Solving virtual cameras (Solving from props)

1. Load a scene with a virtual camera or props.
2. Load an FBX model of a virtual camera.
3. Select a bone from the virtual camera (source) and CTRL+Select a bone from the
FBX model of a camera.

Pegasus
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4. On the toolbar, click the Associate Characters button and then click Associate
Character without Scaling.
5. Using the Group node on the FBX model of a camera and the Rotate tool ,
adjust the direction of the camera to match the Shogun or Blade virtual camera.
The same procedure applies for solving any other prop.

Pegasus
Product
Guide
Tuning the solve

By default all the necessary tuning is applied to the solve. In some situations, you may
need to perform one or more of the following additional tuning steps:
Link bones manually: Ensure the automatic match has linked all bones in media
solving. Link bones manually if necessary.
Exclude hierarchies from the solve, for example, head rigs, fingers, auxiliary bones,
etc.
Disable roll bones from the solve.
Increase stiffness for bones that do not have direct drive. For Shogun or Blade,
increase the stiffness for bones that do not have a retargeting source, for example,
spine bones. The stiffness varies from 0–1. For spine, typical values are 0.3–0.7.
For Tracker solving, increase the stiffness of clavicle bones to 0.85–0.99 to add
some rigidity since in most applications these are not driven by rigid bodies.
Increase the Weight on some specific tasks, for example, feet to 5–10.
Add additional task constraints in Shogun or Blade solving applications, for example,
on the chest, to bring the upper body closer to the reference solve.

Pegasus
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Saving and using templates

Pegasus enables you to save custom templates for later use, which can be useful for re-
using manually added links.
During the association of avatars, the retargeting links are automatically created, based
on naming conventions. If for some reason the link cannot be generated automatically,
you can link the source to the target manually and then save the link in a template.
To save manual links to a template:
1. Manually link a source bone to a target bone, by selecting the source and target
and then click the Link to bone manually button , or Link to task button on
the toolbar.
2. To save this link to a template, on the Edit menu, click Save template and in the
dialog box, enter a name for the template.
The template is saved as a matching file under a template folder in the main
Pegasus folder.
After you have saved a template, you can use it to automatically associate source to
target bones. To do this:
1. Select first the source then CTRL+select the target.
2. On the Edit menu, click Apply template and in the dialog box, select the required
template.

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Running multiple instances of Pegasus and run-

time solvers
If necessary you can run multiple instances of Pegasus and run-time solvers.
To do this:
In the Output settings dialog box, specify a different DataStream Output Port for
each instance of Pegasus, for example, 802, 806, 810, etc.
You can then run Pegasus in detached mode and close the user interfaces. This
creates multiple real-time instances that stream solved data to your game engine and
application.

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Unreal plug-in integration
Important
Included in the Pegasus installation is a copy of the source code for the Unreal
Engine plug-in, along with the plug-in itself.
Unreal Engine often requires that any plug-ins are recompiled for each new
Unreal release, including point releases.
It is not possible for Vicon to supply a new plug-in for every Unreal Engine
release. The source code is therefore supplied to provide the option for you to
compile it yourself for the particular release of Unreal Engine you are using,
should it not run with the supplied plug-in. Vicon cannot offer support for
recompiles of this source and any use of this source code is entirely the
responsibility of the user and at the user’s risk.
Before you can use the Unreal plug-in, ensure you have installed the required version of
the Unreal Engine and have copied the plug-in files to the appropriate folder. You can
then use the plug-in. For more information, see:
Installing the Unreal plug-in for Vicon Pegasus on page 44
Using the Unreal plug-in for Vicon Pegasus on page 44
Using a virtual camera with the Unreal Engine on page 48

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Installing the Unreal plug-in for Vicon Pegasus

To install the Unreal plug-in for Vicon Pegasus:
1. Install the Unreal Engine, version 4.5.0. (If you are using an older version of the
Unreal Engine, contact Vicon Support for more information.) By default, the
Unreal Engine is installed in C:\Program Files\Unreal\Unreal Engine\4.5.
2. Install Vicon Pegasus. When you install Pegasus, the Unreal plug-in files are
copied to a a folder called UEPlugin, under the location of the Pegasus
installation (by default C:\Program Files\Vicon\Pegasus1.1.0\UEPlugin).
3. Install the plug-in by copying all the files from the Pegasus UEPlugin folder, by
default:
C:\Program Files\Vicon\Pegasus1.1.0\UEPlugin
To the Unreal Engine installation folder, by default:
C:\Program Files\Unreal\Unreal Engine\4.5
Using the Unreal plug-in for Vicon Pegasus

To use the Unreal plug-in with Vicon Pegasus:
1. Launch the Unreal Engine.
2. Create a new project with first person shooter blueprint.
3. In the editor, on the Edit menu, click Plugins.
4. In the dialog box:
a. Select Retargeting.
b. To enable the Ikinema DataStream plugin, select the Enable check box and
then click Restart Now.

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5. When the editor has restarted, right-click in the folder structure in the content
browser and create a new folder.
6. To the right of where you added your folder (in the area labeled Drop files here or
right click to create content), right-click and then click Import to.
a. Browse to the location of the avatar used in Pegasus and confirm.
b. Ensure Skeletal Mesh is highlighted and click Import All.
c. Dismiss the log message.
7. In same space, right-click, point to Animation and click Animation Blueprint.
8. In the dialog box, select the avatar from the list in the bottom section and click
OK.
9. Give the new item an appropriate name.

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10. Double-click the item you created and in the dialog box:
a. Click on the text Result in the final animation pose object and drag into
blank space.
b. From the list, select Ikinema and Ikinema Solved Skeleton.

A line is created from the Final Animation Pose item to the Ikinema Solved
Skeleton item.
c. If you are using only one PC and default settings, enter the following:
Server Name – localhost
Port Number – 802
Subject Name – The name of the character in Subject and Solvers pane.
Important
Subject name refers to the character name in brackets next to

the FBX name and not that of the avatar/fbx imported into
Vicon Pegasus.

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11. Click compile.

You should now see circles moving from the Ikinema Solved Skeleton item to the
Final Animation Pose.
When you have completed the above steps, you should see your animation playing back
in the preview pane. You can view the animation in the scene by dragging and
dropping the animation into the scene. You can also enter a 1st person preview mode.

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Using a virtual camera with the Unreal Engine

To add a virtual camera:
1. Launch the Unreal Engine.
2. Create a new project with first person shooter blueprint.
3. In the editor, on the Window menu, click Plugins.
4. In the dialog box:
a. Select Retargeting.
b. To enable the Ikinema DataStream plugin, select the Enable check box and
then click Restart Now.
5. When the editor has restarted, right-click in the folder structure in the content
browser and create a new folder.
6. Within the same folder create two more folders – one for subject and one for prop
/vcam.
7. Select one of the two folders and to the right of where you added your folder
(where it says Drop files here or right click to create content), right-click and
then click Import to.
a. Browse to the location of the avatar used in Pegasus and confirm.
b. Expand the Advanced options and select Import Materials and Import
Textures.
c. Ensure Skeletal Mesh is highlighted and then click Import All.
d. Dismiss the log message
8. Repeat the process described in step 7 in the second folder for the prop/vcam
mesh/fbx.
9. In the avatar folder, right-click in the space where you imported your fbx, point to
Animation and then click Animation Blueprint. In the dialog box:
a. Select the avatar from the list in the bottom section and click OK.
b. Give the new item an appropriate name.
10. Double-click the item you created.

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11. In the new dialog box:
a. Click on the text Result in the final animation pose object and drag into
blank space.
b. From the list, select Ikinema and Ikinema Solved Skeleton.
A line is created from the Final Animation Pose item to the Ikinema Solved
skeleton item.
12. If you are only using 1 PC and default settings enter the following:
Server Name – localhost
Port Number – 802
Subject Name – The name of the character in the Subject and Solvers pane.
Important
Subject name refers to the character name in brackets next to the

FBX name and not that of the avatar/fbx imported into Vicon
Pegasus.
13. Click compile.

Circles move from the Ikinema Solved Skeleton item to the Final Animation Pose
and the animation playing back in the preview pane.
14. Repeat steps 5–7 for the prop/vcam.
15. Drag the animation blueprint from each folder into the scene.

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16. In the Modes pane (top left by default) type camera into the search field and
drag Camera into the 3D workspace.
17. In the scene Outliner pane locate the camera you just dragged into the scene.
Click and drag this onto the prop/vcam to attach it. Pick a joint and note it down.
The Outliner appears similar to the following example:
18. To simulate and reselect the camera module, click Play. The camera module
should move around in a preview pane.

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Unity plug-in integration

Before you can use the Unity plug-in, ensure you have installed the Unity Plugin Sample
and have copied the plug-in files to the appropriate folder. You can then integrate the
supplied sample code into your own Unity application. For more information, see:
Installing the Unity plug-in files on page 51
Using the Unity plug-in on page 51
Installing the Unity plug-in files

The Unity plug-in is not installed by default, so make sure you select the option when
you install Vicon Pegasus.
By default, the Unity Plugin Sample is installed to the \UnityPlugin directory under the
Pegasus installation.
Because the solution is inside the Program Files folder, you will need Administrator
permissions to write anything to the default folder. You can either:
Copy the contents of \UnityPlugin to a separate folder before opening and building
the project; or
Make sure you are running with Administrator permissions when you open the
solution.
Using the Unity plug-in

To use the Unity plug-in:
1. Ensure you have installed the Unity plug-in as described in Installing the Unity
plug-in files on page 51 above.
2. Open the PegasusUnitySample.sln file in MonoDevelop. If the references to the

UnityEngine are displayed as broken, edit Assembly-CSharp.csproj to point it at
your Unity installation.
3. Build the solution (F8) and run it (F5).

The Unity launcher starts and asks for a project.
4. Select Open Other and point it at the UnityPlugin directory (or, if you moved the
solution file, its parent directory).
A blank scene opens.

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5. In Unity, drag the Program.cs asset on to the camera in the scene.
6. Start Pegasus streaming data, then click the Play button at the top of Unity to
start the stream listener.
The console window displays text output, which indicates that data is being
received from Pegasus.

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Vicon Pegasus shortcuts
Action Shortcut
Select tool Q
Move tool W
Rotate tool E
Scale tool R
Manipulate camera ALT+mouse
Select objects (multiple) CTRL+select
Undo CTRL+Z
Redo CTRL+Y
Change camera view CTRL+1 (2,3,4,5,6)
Start real time process F5
Focus camera on selected object F
Link source bone to target bone L
Delete link between source and target bones CTRL+L

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Action Shortcut
Link source bone to target bone with Orientation O

Task only
Delete link source bone to target bone with CTRL+O

Orientation Task only
Link source bone to target bone with Orientation P

Task only
Delete link source bone to target bone with CTRL+P

Orientation Task only

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Third-party legal notices
Autodesk FBS SDK legal notice on page 56
Boost legal notice on page 57
Qt legal notice on page 58

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Autodesk FBS SDK legal notice

This software contains Autodesk® FBX® code developed by Autodesk, Inc. Copyright
2013 Autodesk, Inc. All rights, reserved. Such code is provided “as is” and Autodesk, Inc.
disclaims any and all warranties, whether express or implied, including without
limitation the implied warranties of merchantability, fitness for a particular purpose or
non-infringement of third party rights. In no event shall Autodesk, Inc. be liable for any
direct, indirect, incidental, special, exemplary, or consequential damages (including, but
not limited to, procurement of substitute goods or services; loss of use, data, or profits;
or business interruption) however caused and on any theory of liability, whether in
contract, strict liability, or tort (including negligence or otherwise) arising in any way
out of such code.

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Boost legal notice

Permission is hereby granted, free of charge, to any person or organization obtaining a
copy of the software and accompanying documentation covered by this license (the
"Software") to use, reproduce, display, distribute, execute, and transmit the Software,
and to prepare derivative works of the Software, and to permit third-parties to whom
the Software is furnished to do so, all subject to the following:
The copyright notices in the Software and this entire statement, including the above
license grant, this restriction and the following disclaimer, must be included in all
copies of the Software, in whole or in part, and all derivative works of the Software,
unless such copies or derivative works are solely in the form of machine-executable
object code generated by a source language processor.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-
INFRINGEMENT. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR ANYONE
DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES OR OTHER LIABILITY,
WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

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Qt legal notice
Copyright (C) 1991, 1999 Free Software Foundation, Inc. 51 Franklin Street, Fifth Floor,
Boston, MA 02110-1301 USA Everyone is permitted to copy and distribute verbatim
copies of this license document, but changing it is not allowed. [This is the first
released version of the Lesser GPL. It also counts as the successor of the GNU Library
Public License, version 2, hence the version number 2.1.]
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We protect your rights with a two-step method: (1) we copyright the library, and (2)
we offer you this license, which gives you legal permission to copy, distribute and/or
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Pegasus
Product
Guide
NO WARRANTY
15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY

FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
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REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU FOR
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OPERATE WITH ANY OTHER SOFTWARE), EVEN IF SUCH HOLDER OR OTHER PARTY
HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.

Pegasus
Product
Guide
Further resources for Vicon Pegasus
You can access further help on using Vicon Pegasus from the following resources:
Vicon Pegasus video tutorials on page 68
Contact Vicon on page 69

Pegasus
Product
Guide
Vicon Pegasus video tutorials

Videos for Pegasus, including information on the user interface and menus, retargeting
(Entertainment and Media), and rigid body solving (Engineering), are currently available
from Vicon Support and from the Vicon Pegasus Tutorials playlist on YouTube,
beginning with Vicon Pegasus User Interface.
Note
As the videos were recorded using an earlier version of Pegasus 1.2, you may
notice small differences in the user interface.

Pegasus
Product
Guide
Contact Vicon
If you need more information than that supplied in the documentation or
on the Vicon Support web pages, please contact Vicon:
Denver, CO Los Angeles, CA

Vicon Denver Vicon LA
7388 S. Revere Parkway, Suite 901 3750 S. Robertson Boulevard, Suite 100
Centennial Culver City
CO 80112 Los Angeles
USA CA 90232
T:303.799.8686 USA
F:303.799.8690 T:310.437.4499
E: support@vicon.com F:310.388.3200
E: support@vicon.com
Oxford, UK
Vicon Oxford
Unit 6, Oxford Industrial Park
Mead Road, Yarnton
Oxford
OX5 1QU
United Kingdom
T:+44.1865.261800
F:+44.1865.240527
E: support@vicon.com
© Copyright 2017 Vicon Motion Systems. All rights reserved.
Vicon trademarks

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Learn about Vicon Pegasus . . . . . . . . . . . . . . . . . . . . . . . . . 4

Introducing Vicon Pegasus . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Vicon Pegasus user interface . . . . . . . . . . . . . . . . . . . . . . . 10

Using Vicon Pegasus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

© Copyright 2016–2017 Vicon Motion Systems Limited. All rights reserved.

Vicon Pegasus shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Third-party legal notices . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Further resources for Vicon Pegasus . . . . . . . . . . . . . . . . 67

© Copyright 2016–2017 Vicon Motion Systems Limited. All rights reserved.

About this guide

Vicon Motion Systems Ltd. 14-Dec-2017 Page 3 of 69

Learn about Vicon Pegasus

Vicon Pegasus Provides basic conceptual information, software description,

PDF and online help installed with Pegasus.

Vicon Motion Systems Ltd. 14-Dec-2017 Page 4 of 69

Introducing Vicon Pegasus

Vicon Motion Systems Ltd. 14-Dec-2017 Page 5 of 69

Scene and camera manipulation

Rotate the scene ALT+Left button

Zoom in and out ALT+Right button (or middle button/wheel)

Pan ALT+left and right buttons

Vicon Motion Systems Ltd. 14-Dec-2017 Page 6 of 69

New features of Vicon Pegasus 1.2.1

Apply global scale factor on streaming

Issues addressed in Vicon Pegasus 1.2.1

Vicon Motion Systems Ltd. 14-Dec-2017 Page 7 of 69

New features of Vicon Pegasus 1.2

Added support for rigid body rigs to the template system.

Issues addressed in Vicon Pegasus 1.2

Vicon Motion Systems Ltd. 14-Dec-2017 Page 8 of 69

New features of Vicon Pegasus 1.1

1. Select one or more bones from the skeleton.

2. On the Edit menu click Bone Length.

Rigid body solving

Media templates (skeleton to skeleton) also remember tasks, in addition to retarget

Old template files are still recognized and usable.

Vicon Motion Systems Ltd. 14-Dec-2017 Page 9 of 69

Vicon Pegasus user interface

The Vicon Pegasus user interface includes the following elements:

Vicon Pegasus window on page 11

Subjects and Solvers pane on page 12

Attributes pane on page 13

Vicon Pegasus menus on page 17

Vicon Pegasus toolbar on page 23

Vicon Motion Systems Ltd. 14-Dec-2017 Page 10 of 69

Vicon Pegasus window

For more information, see:

Subjects and Solvers pane on page 12

Attributes pane on page 13

Vicon Pegasus menus on page 17

Vicon Pegasus toolbar on page 23

Vicon Motion Systems Ltd. 14-Dec-2017 Page 11 of 69

Subjects and Solvers pane

Vicon Motion Systems Ltd. 14-Dec-2017 Page 12 of 69

Transforms tab on page 13

Retarget tab on page 14

Joints tab on page 15

IKinema tab on page 16

Vicon Motion Systems Ltd. 14-Dec-2017 Page 13 of 69

Source bone Target bone Type of connection

The type of connection:

ret - for FK (Forward Kinematics) retargeting mode

rotl - for Orientation Task