Some details of the lighthouse deployment

Discussions related to positioning systems where the position is calculated outside the Crazyflie and sent to the device using radio, including MoCap systems
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Yuchao
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Some details of the lighthouse deployment

Post by Yuchao » Tue Jul 09, 2019 1:51 am

I saw "This allows to setup a minimal system with just two Base stations and one controller or tracker." on wiki.
But what accessories do we need? For example {Link Box} :?



arnaud
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Re: Some details of the lighthouse deployment

Post by arnaud » Tue Jul 09, 2019 6:15 am

Well, nothing more than two base stations and one tracker.

The link box is used to connect the head-mounted-display (HMD) to your computer so if you setup the system without HMD the linkbox is not needed.

Yuchao
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Re: Some details of the lighthouse deployment

Post by Yuchao » Tue Jul 09, 2019 8:53 am

Thank you for your reply. :D I use these devices(without HMD) for the deployment of the lighthouse.I don't know if I need to do Room Setup.The SteamVR Compositor always crash on mac.
And the steps on the wiki are:
1)Prerequisite
2)Setting up SteamVR without Head Mounted Display
3)Setting up the space origin and orientation with an HMD
4)Getting the base station position and programming the Crazyflie
5)Space orientation, startup position
From the font size , it should be a sequential step. But the third step can't be done without an HMD.

arnaud
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Re: Some details of the lighthouse deployment

Post by arnaud » Tue Jul 09, 2019 10:42 am

No you shoud not (and you cannot) run room setup without an HMD. Without an HMD the most important is to follow carefully the Triad blog post that is linked in the wiki to setup SteamVR to work without HMD.

It is not a problem that the VR compositor crashes, it is actually a good thing: Valve recently improved SteamVR and I now get the compositor running on my Linux laptop with Intel graphic, it is very slow and annoying since I need to manually close the compositor window each time.

The points you listed are indeed the Wiki steps, they allow to setup the lighthouse system to fly Crazyflie. Are you having a problem at any of these step, and what is the problem?

Edit: I just understood the last line of your message. The step "Setting up the space origin and orientation with an HMD" is only to be followed if you have an HMD (as pointed by the first sentence of the step), if you do not have an HMD you cannot follow it and you can jump directly to "Getting the base station position and programming the Crazyflie"

Yuchao
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Re: Some details of the lighthouse deployment

Post by Yuchao » Tue Jul 09, 2019 2:37 pm

Thank you very much! :D I can now run the script in path: crazyflie-firmware>tools>lighthouse> get_bs_position.py.

But I don't know how much error is reasonable.And from the data point of view, my bs are not at the same height?

Origin: {} [0.525801420211792, -1.0798598527908325, -2.252423048019409]
-------------------------------
{.origin = {-0.525801, 1.079860, 2.252423, }, .mat = {{0.998637, -0.052191, -0.000000, }, {0.049424, 0.945701, 0.321259, }, {-0.016767, -0.320821, 0.946992, }, }},
{.origin = {-0.627446, 1.066033, -2.573154, }, .mat = {{-0.993563, 0.110110, -0.026620, }, {0.087250, 0.893692, 0.440116, }, {0.072251, 0.434960, -0.897546, }, }},

arnaud
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Re: Some details of the lighthouse deployment

Post by arnaud » Tue Jul 09, 2019 4:35 pm

The origin is in the openVR space so Y is vertical. So in your case the height of the BS are within ~1cm which seems good.

Yuchao
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Re: Some details of the lighthouse deployment

Post by Yuchao » Wed Jul 10, 2019 1:41 am

Thank you for your help. :D I will continue to do the next step.I still have a question, can lps and lighthouse coexist?
I just want to get the location of the crazyfile as a groud truth through the lighthouse without guiding its behavior.

kimberly
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Re: Some details of the lighthouse deployment

Post by kimberly » Thu Jul 18, 2019 9:00 am

Hi!

for the lps & lighthouse compatibility, you should probably checkout this thread: viewtopic.php?f=18&t=3573

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