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• Setup your optical tracking system. Attach the IMU to the optical target or attach both to the same rigid object eg. an HMD. Initialize the optical tracking body in your motion capture software and note the object ID.

• Connect your IMU to the computer running FusionHub. Make sure your computer can connect to the IMU and read data by using LpmsControl 2. Make sure to disconnect from LpmsControl before running FusionHub.

• Modify config.json to contain the correct information for your IMU and optical tracking system. See below how to configure the various block of the configuration file. The configuration file can also be modified through the FusionHub GUI as shown further below.

Operation

If all components are connected and the configuration file is correct, FusionHub should work right away after starting the application. The console output shows a log of the initialization of the various components. Note that you can always log the output from FusionHub to a file by adding

"record": {
    "filename": "log.a",
    "format": "json"
}

to the sink section of config.json.

After starting and connecting the GUI the Auto Calibration section of Fusion Config should show increasing numbers for nImu (number of recorded IMU samples) and nOptical (number of recorded optical samples).

Calibration

There are two calibration steps that are required to operate the BASE filter:

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The result of the autocalibration is saved in autoCalValautocalibValue.json. When starting FusionHub for the first time, this offset is set to (0, 0, 0). Make sure to place the target with the IMU attached within the tracking volume and keep it static eg. by placing it on the floor.

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