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First, choose a fiducial marker from the Chilitags library of pre-made markers (available here) and print it out. Attach the marker to the reference/platform IMU and ensure it’s placed in a location visible to the HMD cameras.
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The choice of Chilitags marker does not matter, as long as it is the correct physical size for the configuration. However, keep in mind that the markers in the downloaded folder are already categorized as mini or big, and with or without borders. If you choose a marker with a border, ensure that it is printed with the border.
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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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The detect_only parameter is optional, but it is recommended to set it to the ID of the chosen fiducial marker. This helps prevent the tracker from mistakenly identifying image features as markers that are not actually present in the scene or when using other fiducial
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markers to enhance feature-poor surfaces.
3) Setting up communication in LPSLAM
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For a faster and easier setup, the   |
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If you are using LPVR-DUO with an ART system for head-pose tracking, we recommend saving or downloading the JSON file of your configuration for ART before proceeding. The driver supports both LPSLAM and ART systems; however, if you wish to switch between the two, loading the corresponding configurations into the driver will streamline the process. On the Expert Mode page of the LPVR-DUO web interface, click the red-marked button to load a configuration file, the yellow-marked button to download the JSON file of the active configuration, and the green-marked button to apply the configuration to the driver.  |
Proxy ports
LPSLAM generates two types of absolute 6DoF poses within the Visual-SLAM global reference frame:
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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
Navigate to the Expert Mode page in LPVR-DUO’s web interface.
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Proxy ports
In the JSON editor of the Expert Mode tab, set an absolute pose source for each type of pose coming from LPSLAM. Assign a freely chosen identifying name and a port under their settings with the type DTrack, as shown below.
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