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Hi,
Free-d requires Broadcast Aximmety license: https://aximmetry.com/learn/faq/hardware/#tracking
If you have a Broadcast license, first you need to add the Free-d device in Edit->Manage Devices:

Then you can use Aximmetry's tracked camera compounds to easily set up your scene with your Free-d tracked camera: https://aximmetry.com/learn/tutorials/for-studio-operators/setting-up-virtual-sets-with-tracked-cameras/ There are tracked camera compounds for Billboards, AR and Led Wall.
Or you can access the Free-d data or transformation using a Camera Tracking module:

Warmest regards,