Table of contents
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Releases
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Adjust the body ID of the HMD as configured in Motive.
Using LPVR-AIR on a
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motion platform
FusionHub has the ability to use an additional platform IMU to compensate the motion of a simulator platform or vehicle. It combines data from both IMUs to calculate poses relative to a moving platform.
Differential IMU
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node
The differential IMU node allows compensation of the movement of eg. the motion platform of a simulator using an IMU attached to the simulator base. This is achieved by transforming the output of the reference IMU into the same coordinate system as the headset IMU and calculating the difference between the two.
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Parameter name | Description | Default value |
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dataEndpoint | The data output endpoint to which the differential IMU data is forwarded to | inproc://differential_imu_output |
inputEndpoints | The input endpoints of the node. Two IMU inputs and looping in the output of the IMU optical fusion node are required. | "inproc://imu_data_source_0", |
referenceOrientationQuat | The orientation of the reference IMU target in the optical coordinate system | "w": 1.0, "x": -1.0, "y": 1.0, "z": 1.0 |
referenceToOpticalQuat | Transformation from reference IMU local coordinate system to optical frame | "w": 1.0, "x": 0.0, "y": 0.0, "z": 0.0 |
Calibration of
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platform IMU
Option 1 (Recommended) - IMU
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fixed to optical tracking bar
In case you’re using an ART Smarttrack 3 system it makes sense to attach the platform IMU directly to the camera unit. As this puts the IMU into a known reference frame relative to the optical coordinate system, a further calibration of the relationship between the two isn’t needed. Please note that correct adjustment of the optical tracking body of the HMD relative to its IMU is still needed. The image below shows how to attach LPMS-IG1 on top of an SMT 3. The corresponding referenceOrientationQuat for this configuration will be w=1.0, x=-1.0, y=1.0, z=1.0.
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Option 2 - Platform IMU-
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optical system intercalibration
Attach an optical target to the platform IMU. Any target shape is fine, the target could look like the one displayed below.
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