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abhijitmajumdar / ViveTracker

A ROS package to use HTC VIVE Trackers and Lighthouse(s) for localization using libsurvive
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Unable to complete calibration #1

Closed ortasa closed 6 years ago

ortasa commented 6 years ago

First thank you. It is a great project that open so much possibilities.

I am unable to complete the calibration script. I can not see in the servive debug gui screen the location points. servive debug screen

I am using 1 lighthouse and 1 tracker. Bellow is the ./calibrate output and the config.json file.

Thanks in advance, Ortal

./calibrate output: Info: Available Posers: Info: Dummy Info: IMU Info: CharlesRefine Info: EPNP Info: SBA Info: Totals 5 Posers. Info: Using 'CharlesRefine' for defaultposer Info: Available Disambiguators: Info: Charles Info: Turvey Info: StateBased Info: Totals 3 Disambiguators. Info: Using 'Charles' for disambiguator Info: Loading driver DriverRegPlayback (0x7f8c5ff38b50) (1) Info: Driver DriverRegPlayback reports status 0 Info: Loading driver DriverRegHTCVive (0x7f8c5ff5b6f0) (2) Info: Blacklisting - Info: Vive starting in libusb mode. Info: Did not find device HMD (0bb4:2c87.0) Info: Did not find device HMD IMU & LH (28de:2000.0) Info: Did not find device Watchman 1 (28de:2101.0) Info: Did not find device Watchman 2 (28de:2101.1) Info: Successfully enumerated Tracker 0 (6, 3) Info: Did not find device Tracker 1 (28de:2300.0) Info: Did not find device Wired Watchman 1 (28de:2012.0) Info: All enumerated devices attached. Info: Powered unit on. Info: Got config data length 1865 Info: Loading config: 7604 Info: Driver DriverRegHTCVive reports status 0 Info: Loading driver DriverRegDummy (0x7f8c5ff60c80) (3) Info: Driver DriverRegDummy reports status 0 Info: Loading driver DriverRegUDP (0x7f8c5ff61010) (4) Info: Driver DriverRegUDP reports status 0 Info: Uncalibrated configuration detected. Attaching calibration. Please don't move tracked objects for the duration of calibration. Pass '--disable-calibrate' to skip calibration Info: Calibration is using TR0

config.json file

"lighthousecount":"1", "defaultposer":"CharlesRefine", "disambiguator":"Charles", "RequiredTrackersForCal":"TR0", "AllowAllTrackersForCal":"0", "ConfigPoser":"CharlesRefine", "TurveyToriDebug":"0" "lighthouse0":{ "index":"0", "id":"0", "mode":"0", "pose":["0.000000","0.000000","0.000000","0.000000","0.000000","0.000000","0.000000"], "fcalphase":["0.000000","0.000000"], "fcaltilt":["0.000000","0.000000"], "fcalcurve":["0.000000","0.000000"], "fcalgibpha":["0.000000","0.000000"], "fcalgibmag":["0.000000","0.000000"], "PositionSet":"0" } "lighthouse1":{ "index":"-1" }

abhijitmajumdar commented 6 years ago

@ortasa I can see that the tracker has been enumerated, so detection is not an issue. However, since you are only using a tracker you need to make "AllowAllTrackersForCal":"1" (in your config.json file) to indicate that calibration may use trackers for calibration, without the need for an HMD.

If this still does not work, try switching the letter on the lighthouse to some other, by pushing the button at the back of the lighthouse.

ortasa commented 6 years ago

Thank you for all your help. The problem was because the lighthouse was on mode C. When we change the lighthouse mode to A every thing work OK. Thanks, Ortal