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Point your web browser to http://localhost:7119. A configuration webpage (depicted below) should pop up.
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For reference see the contents of a default JSON file below:
| Code Block |
|---|
{
"PoseMachineConfig": {
"absoluteSources": {
"DTrack": {
"settings": {
"axisPermutation": "xyz",
"oneBasedCounting": true,
"port": 5000
},
"type": "DTrack"
},
"my_dummy": {
"type": "Dummy"
}
},
"emitters": {
"HMD": {
"type": "Keeper"
},
"console": {
"type": "Console"
}
},
"imuSources": {
"HMD IMU": {
"type": "Varjo"
},
"Platform IMU": {
"settings": {
"autodetectType": "ig1"
},
"type": "OpenZen"
}
},
"mapper": {
"dataProxy": {
"port": 14355
}
},
"trackedObjects": [
{
"absoluteSource": {
"name": "DTrack",
"trackingId": 1
},
"combinerType": "DifferentialImu",
"emitterName": "HMD",
"imuSource": "HMD IMU",
"settings": {
"ignoreGravity": true,
"opticalWeight": 0.005,
"referenceImu": "Platform IMU",
"referenceOrientationQuat": {
"w": 1,
"x": 0,
"y": 0,
"z": 0
},
"referenceToOpticalQuat": {
"w": 1,
"x": 0,
"y": 0,
"z": 0
}
}
},
{
"absoluteSource": {
"_the platform IMU body": "goes here",
"name": "DTrack",
"trackingId": 2
},
"combinerType": "Default",
"emitterName": "console",
"settings": {}
}
]
}
} |
| Info |
|---|
Note that this is the complete content of the |
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”.
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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