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HTC Lighthouse recalibration issues


profactor_mgangl
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Hello,

i am using the HTC Tracker in conjunction with the Tracking System V1 without an HMD. The poses of the tracker get gathered in the “TrackingUniverseRawAndUncalibrated” – Universe.

In General, the accuracy of the system is decent enough for us to interact with the “real” world. Nevertheless, we have unsolved accuracy Problems in the range of centimeters corresponding to the Problem described below.

The biggest issue we face at the moment is the “Recalibration/Bootstrapping” of the HTC Lighthouse Boxes. (Below you find the output, generated by SteamVr, for one box). Whenever a device leaves or enter the tracked Space this calibration procedure gets called. (What is good with the use of the HMD, but not for the interaction with the realworld). If we only use one Lighthousebox we are able to somewhat correct the resulting accuracy error by tracking the gravity Vector and transformation of the Lighthouse box.

In my Application the lighthouse boxes are mounted rigidly to the walls. That is why the poses (position and orientation) of the Lighthouse boxes are fixed in the room and to each other. Therefore, I would not need/want the recalibration of the HTC System whenever it thinks to. Same counts for the recalibration of the gyro values in the devices on hard impact.

My question is, if I am able to deactivate those calibration procedures or force the system to stay on one specific “universe” (LighthouseDB ?)as mentioned in the system report file.

 

Best regards and stay save
mgangl

 

 

Quote

Mon Oct 12 2020 11:43:35.301 - lighthouse: LHR-FF523B40: Updated IMU calibration: Accel bias change 0.16m/s/s

Mon Oct 12 2020 11:43:35.301 - lighthouse: Updating tilt for 23090E54: Old= 0.50, 0.20, 8.34344e-06 <- 1.33 deg -> new= -0.24, -0.91, 2.24143e-06 result=-0.24, -0.91, 2.24143e-06

Mon Oct 12 2020 11:43:35.301 - lighthouse: Best tilt from LHR-FF523B40 for base 23090E54 pitch -0.24 roll -0.91 score 3.09

Mon Oct 12 2020 11:43:35.301 - lighthouse: Setting universe tilt from 23090E54 via transform to global: pitch -0.24 deg roll -0.91 deg

Mon Oct 12 2020 11:43:35.317 - lighthouse: Saved LighthouseDB rev 553 to C:\steamvr1_6\SteamVR\resources\settings\lighthouse\lighthousedb.json

Mon Oct 12 2020 11:44:02.137 - lighthouse: LHR-FF523B40 😄 Resetting tracking: no optical samples from base 23090E54 for 2000ms

Mon Oct 12 2020 11:44:02.137 - lighthouse: LHR-FF523B40 😄 Dropped 70413 back-facing hits, 2 non-clustered hits during the previous tracking session

Mon Oct 12 2020 11:44:02.137 - lighthouse: Stopped tracking with universe 1596195283

Mon Oct 12 2020 11:44:07.140 - lighthouse: LHR-FF523B40 😄 Trying to start tracking from base 23090E54: Not enough contiguous samples for a bootstrap pose

Mon Oct 12 2020 11:44:08.534 - lighthouse: LHR-FF523B40 😄 ----- BOOTSTRAPPED base 23090E54 (immediate) distance 1.65m base pitch ~0.0 deg roll ~-0.5 deg -----

Mon Oct 12 2020 11:44:09.368 - lighthouse: LHR-FF523B40 😄 ----- CALIBRATED base 23090E54 at pitch 0.29 deg roll -0.52 deg -----

Mon Oct 12 2020 11:44:09.368 - lighthouse: Updating tilt for 23090E54: Old= -0.24, -0.91, 2.24143e-06 <- 0.65 deg -> new= 0.29, -0.52, 7.60209e-06 result=0.29, -0.52, 7.60209e-06

Mon Oct 12 2020 11:44:09.368 - lighthouse: Best tilt from LHR-FF523B40 for base 23090E54 pitch 0.29 roll -0.52 score 3.15

Mon Oct 12 2020 11:44:09.368 - lighthouse: BootstrapFinished setting tilt base to 23090E54

Mon Oct 12 2020 11:44:09.368 - lighthouse: Selected existing universe 1596195283 (23090E54 is primary)

Mon Oct 12 2020 11:44:09.368 - lighthouse: Setting universe tilt from 23090E54 via transform to global: pitch 0.29 deg roll -0.52 deg

Mon Oct 12 2020 11:44:09.388 - lighthouse: Saved LighthouseDB rev 554 to C:\steamvr1_6\SteamVR\resources\settings\lighthouse\lighthousedb.json

Mon Oct 12 2020 11:44:13.940 - lighthouse: Triggered by system report: USB status (rates over 10 sec)

Mon Oct 12 2020 11:44:13.940 - lighthouse: 28de 2101 6B3E60CC03 IMU 392/sec, max interval 7ms

Mon Oct 12 2020 11:44:18.506 - Processing message VRMsg_WritePropertyDataToFile from vrmonitor (38352) took 0.0242 seconds

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