Hardware Installation

The system consists of the following hardware components:

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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 referenceOrientationQuat around 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”

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  • Enter the log folder, out of the files named tracking_<number>.log select 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 referenceOrientationQuat in the configuration web page with the values of q in 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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