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doc:lighthouse:setup [2019-10-09 09:37] kristoffer |
doc:lighthouse:setup [2019-11-29 15:56] kristoffer |
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It is possible to setup the SteamVR without a Head Mounted Display (HMD). This allows to setup a minimal system with just two Base stations and one controller or tracker. It can be quite useful when a full VR system is not needed or to setup a system at fairs or conference. | It is possible to setup the SteamVR without a Head Mounted Display (HMD). This allows to setup a minimal system with just two Base stations and one controller or tracker. It can be quite useful when a full VR system is not needed or to setup a system at fairs or conference. | ||
- | Follow the guide from Triad: [[http:// | + | Follow the guide from Triad: [[http:// |
<WRAP center round info> | <WRAP center round info> | ||
**OSX** | **OSX** | ||
+ | |||
+ | The osx implementation seems to be a bit shaky, but it is possible to make it work. I used the " | ||
The paths in the triad instructions are for Windows. On Mac OSX you will find the files to update in | The paths in the triad instructions are for Windows. On Mac OSX you will find the files to update in | ||
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===== Space orientation, | ===== Space orientation, | ||
- | The orientation of the flying space will follow the orientation of the OpenVR | + | The OpenVR |
- | + | ||
- | The following rotation is done from the OpenVR space to the Crazyflie | + | |
^ Crazyflie | ^ Crazyflie | ||
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- | This allows | + | The Lighthouse deck has 4 receivers and can recover its orientation. The Crazyflie can be started in any orientation when using the lighthouse system. |
+ | |||
+ | You can test if the positioning is working by starting the Crazyflie facing X and using the clients " | ||
+ | |||
+ | ===== The number of basestations and frame synchronization ===== | ||
+ | |||
+ | The lighthouse deck works with one or two V1 basestations but the estimated position will be better and more stable with two basestations. When using two basestations, | ||
+ | |||
+ | The protocol for the lighthouse is composed of frames starting with sync pulses from the basestations. The sync pulses are used to identify which basestation the frame is originating from and this information is essential for correct positioning. When one basestation is occluded, only sync pulses from the visible basestation will be available to the system, which is fine as long as the the system can keep track of the frames. If we loose track of the frames, for instance if both basestations are occluded, the system has to re-synch again to function, but this is a quick process | ||
+ | Due to the design of the lighthouse protocol, visibility to both basestations is always required for synchronization or re-synchronization in a two basestation | ||
+ | |||
+ | ===== Position estimation methods ===== | ||
- | While the Lighthouse deck has 4 receiver and so can recover its orientation, | + | There are currently two ways of calculating |
- | {{: | + | |
- | The safest way to verify | + | The first method that was implemented calculates two vectors (or beams) from the basestations, |
+ | A more recent implementation pushes | ||
+ | It is possible | ||
- | {{: | ||
- | Once you have located X positive, you can test if the positioning is working by starting the Crazyflie facing X and using the clients " | ||