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• In order to use LPVR-DUO we need to connect the various parts and we need to calibrate the orientation of the reference IMU that is mounted to the vehicle.
  

  • in order to receive data from DTrack the port number configured on line 7 needs to match the one configured in DTrack. The default configuration uses port number 5000 which is also the default for DTrack.

    

    In DTrack’s Output Settings you need to enable one channel to send to “this computer” with at least “ts” and “6d” output enabled. Depending on your firewall settings you may have to select “act as router for tracking output”.

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  • You also need to configure the correct body ID for the tracked body associated with the headset. This number goes on line 42 of the configuration

    

  • Lastly, for the purpose of calibration, we also need a tracking body attached to the reference IMU. Its tracking body ID goes on line 69.

    

  • Once these settings are complete, click the button labelled “Push To Driver” above the input field. The driver should now have adopted the settings.

  • If you have already calibrated the headset tracking body (see above), you should be able to now use the headset with DTrack tracking. It should also react to motion of the reference IMU. Though as long as the reference IMU is not calibrated, this motion should not make much sense.

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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

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  • On the next screen, click Start

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  • Click “Skip” in order to not record eye tracking data

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  • 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>.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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