Currently, Space Calibrator naiively adds any pose from a tracker into a sample unless it's not tracking at all or the device is turned off. This fails as sometimes, in the case of lighthouse tracked devices:
If not enough photodiodes are lit by SteamVR base stations, the estimated pose will be jittery as the data is too noisy to converge into a stable result.
When a device fails to estimate a pose, it falls back to dead reckoning, which accumulates drift very quickly and visibly appears as the device flying off (eg hip tracker)
While these improvements focus primarily on ligthouse tracked devices, they should also be beneficial for all forms of tracking.
Goal: Allow spacecal to detect when a device has jittery tracking or is drifting. We can use the sample window as a buffer to check in.
Jitter estimation. Using mean square root to quantify jitter.
Extend jitter estimation to also look in small windows. Currently, it looks at the entire window which is aggressive.
Quantify drift (probably using a combination of reported velocity and estimated velocity)
hyblocker
commented
1 week ago
Currently, Space Calibrator naiively adds any pose from a tracker into a sample unless it's not tracking at all or the device is turned off. This fails as sometimes, in the case of lighthouse tracked devices:
While these improvements focus primarily on ligthouse tracked devices, they should also be beneficial for all forms of tracking.
Goal: Allow spacecal to detect when a device has jittery tracking or is drifting. We can use the sample window as a buffer to check in.