moshimeow / nsconfigs

Config files for North Star headsets I've made

Unless I've sent you a North Star headset, this repository is totally unimportant to you.

full_size SLAM configs

I calibrated all the cameras in 1280x800 - better choice so that the Aruco board could be more reliably detected.

For tracking we always stream at 640x400 - this is for bandwidth reasons, and because Monado's hand tracking mysteriously performs a bit better with lower resolution (it's some problem with the stereographic unprojection code...)

This means that for Basalt to work, fx, fy, cx, and cy all have to be multiplied by 1/2. The normal Basalt calibration you'll use (<your name>/basalt_calibration.json) is set up like this, whereas all the stuff in full_size/ have just the original values that Basalt's calibrator spit out.

full_size/basalt_calibration_no_imu.json

These are here just because I have them. They're also used here: https://github.com/moshimeow/calibrate-hmd-v3/blob/master/src/mechanical/upload.cpp so that we can upload a stereo (no IMU - boo Luxonis) calibration to the Pro W Dev's EEPROM.

I'm not totally sure if it was a good idea to set it up this way, but Monado uses the Pro W's calibration for hand tracking and the calibration that slam_config.toml points to for SLAM. In this case, the calibrations are exactly the same values (modulo resolution/focal length/optical center scale, which Monado's hand tracking deals with gracefully) so it doesn't matter.

slam_config_no_gui.toml vs slam_config.toml

I've found that Pangolin randomly segfaults in some OpenGL code, so I typically use the slam_config_no_gui.toml file, but it's up to you. They are the same in every other way.

launch.sh

You don't have to use this - it's just an example of the environment variables I typically use