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The system consists of the following hardware components:
A Varjo Headset (VR-1, VR-2, XR-1)
ART optical tracking system in an in-vehicle configuration (e.g. Smarttrack 3)
An external LPMS-IG1 IMU that is fixed to the vehicle frame (“reference IMU”)
A PC running Varjo Base that powers the VR/AR experience
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Once the driver has finished installing start Varjo Base.
In Varjo Base go to the system tab and select LPVR-DUO-Varjo as headset tracking method from the dropdown menu.
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Fix the reference IMU to the vehicle in the intended location with the optical marker still attached. Make sure that it is visible to DTrack. We now need to read the orientation quaternion from Varjo Bases log files and enter them as
referenceOrientationQuataround line 59 of the configuration. Accessing the Varjo Base log files takes a few steps which we detail below.Open Diagnostics from the Support menu in Varjo Base
On the next screen, click Start
Click “Skip” in order to not record eye tracking data
You are now presented with the following screen which provides you with a link to the location where the log files are stored. Click on “Show folder”
Enter the log folder, out of the files named
tracking_<number>.logselect the latest one and open it.Near its end search for lines similar to this
20210120 15:16:31.156 --- [Varjo::Tracking::PluginUtilityAPI::WriteLogMessage] PLUGIN: [INFO] new pose: q = {"w":0.9913584114738726,"x":0.1302836073262127,"y":0.006246731684853627,"z":-0.013979051208529776} pos = {"x":-1.1893610000000001,"y":0.831757,"z":-0.936706}Replace the contents of
referenceOrientationQuatin the configuration web page with the values ofqin the log file, i.e.{"w":0.9913584114738726,"x":0.1302836073262127,"y":0.006246731684853627,"z":-0.013979051208529776}in this example.
After the above procedure the optical marker can be detached from the reference IMU.
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