Comments (3)
The short frame warnings happen when the image analysis takes too long - because it all happens in a single thread at the moment. I plan at some point to split the capture and analysis into several threads. Frames will still occasionally get dropped then, if things are too slow, but it'll be clean entire frames and not random USB packets.
The 2nd error happens because when the sensors are plugged into a USB2 port, they only offer JPEG compressed video frames, and I haven't written any code to support capture+decode of JPEG yet.
The "drifting away" happens when the tracking finds the headset in the cameras for a short moment and then loses it again - without the feedback from the cameras, the IMU interpolation loses position really rapidly. The filtering that I'm working on at the moment will help with that a little, by extracting better bias values and by tracking the variance in the position to know when the position is so uncertain that it should not be reported any more.
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Thank you for the explanation. I read your blog post about OpenHMD and the Oculus rift which gave me a basic idea of how the IMU implementation works and what is used for. However since it only provides orientation data isn't it better to "lock" the headset/controllers in one place (until detected by the sensors) rather than allowing them to "drift away"? It may help with ghosting in the future and prevent further motion sickness.
Also another question. Is it possible to get a view of the rift sensor and what the driver recognizes as the LEDs? Like the OpenHMD-RiftPlayground demo but with updated code. The one in the demo seems to be very old and funky with challenging environments.
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What's happening is that initially the IMU is only used for 3DOF orientation - until the computer vision that's looking for the devices in the sensor data detects a solid lock. At that point, it starts trying to interpolate position using the IMU to help with the tracking. However, because it's all still under development, there's logic missing to limit how much position interpolation is allowed before requiring another good detection lock.
It's possible to use pipewire to look at the sensor feed if you build with that available. OpenHMD will then produce a pipewire video source that shares a debug view.
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Related Issues (20)
- Handle CV1 headband LEDs HOT 1
- Remove OpenCV dependency HOT 2
- Rift/Nvidia HMD standby mode when a game is launched HOT 2
- Find ways to make the sensor fusion more efficient
- Display stays on regardless of proximity sensor HOT 7
- Compiling with CMake doesn't work on Manjaro HOT 5
- Haptics provides no output, sends thousands of log messages HOT 1
- DK2 sensor distortion calibration - indices incorrect HOT 1
- No display/tracking without sudo HOT 8
- Display all warpy and weird (weird distortion correction) HOT 3
- Stuttering, loss of tracking when haptics are activated HOT 7
- No tracking in Zenith HOT 2
- Any suggestions for optimization possibilities for Raspberry 4b!? HOT 12
- OpenHMD started failing connecting to Rift using Ubuntu.
- Does the actual HMD have positional tracking? HOT 4
- Unable to turn on the display on the Oculus CV1 HOT 2
- Mapping WMR (HP Reverb 2) controllers to memory buffer changes. HOT 1
- Are there plans to further develop this project or has all development gone to monado? HOT 2
- More of a question then anything. HOT 9
- Future Directions: Monado
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