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In your LPSLAM configuration file, set a tracker of type Marker and configure the corresponding parameters. Adjust these parameters as needed to ensure quick detection of the fiducial marker while maintaining a stable tracked pose. For more information on the Marker tracker parameters, refer to the configuration file documentation.
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"trackers": [
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"type": "Marker",
"configuration": {
"marker_size": 0.045,
"process_noise": 0.8,
"observation_noise": 0.2,
"show_tags": true,
"detect_only": 90
}
]
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After setting the fiducial marker and configuring the proxy ports and tracking ID, launch Varjo Base and let it run in the background. Then, start LPSLAM tracking using either the standalone app or the GUI controller.
Next, in the System tab of Varjo Base, select LPVR-DUO-Varjo as the tracking method from the drop-down menu. Then, open the web interface (http://localhost:7119/) to configure LPVR-DUO.
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5) Setting up communication in LPVR
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To receive the HMD poses from LPSLAM, got to the trackedObjects section add an entry with the corresponding absoluteSource. Then, set the tracking ID defined earlier for the VSLAM tracker and apply the configuration.
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