HTC Vive Tracker Developer Manuallines Download Page 24

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Vive Tracker

Developer Guidelines

HTC Corporation

01/19/2017 Ver. 1.3

HTC Confidential and Proprietary

Coordinate system

The coordinate system of Vive Tracker is “

Right

Right----hande

hande

handed coordinate system

d coordinate system

”.

Vive Tracker

Datum A is set to be the top surface of the ring feature around the 1/4” Screw Nut.

Datum B is set to be the intersection point between the centerline of Standard Camera
Mount (1/4” Screw Bolt) and Datum A.

Datum C is set to be the intersection point between the centerline of Stabilizing Pin
Recess and Datum A.

The coordinate system is constructed by the Datum frame of Datum A, the line of
Datum B and Datum C, and Datum C itself.

Summary of Contents for Vive Tracker

Page 1: ...HTC Vive Tracker Developer Guidelines Ver 1 3 ...

Page 2: ...ted 4 Data format revised 1 2 2017 01 09 1 SteamVR monitor images revised 1 3 2017 01 19 1 Design of Pogo Pin Pad revised 2 Firmware upgrade revised 2016 2017 HTC Corporation All Rights Reserved HTC the HTC logo Vive the Vive logo and all other HTC product and services names are the trademarks or registered trademarks of HTC Corporation and its affiliates in the U S and other countries ...

Page 3: ...l size 11 Main feature 12 Docking mechanism 13 Docking with standard tripod cradle head w o electric connection 13 Docking with side tightening wheel w electric connection if needed 14 Accessory design 15 Design of Pogo Pin Pad 16 Coordinate system 16 Software components 23 System requirements 23 Data format 25 Accessory integration 27 Unity integration 31 Firmware upgrade 39 ...

Page 4: ...acker can Simulate buttons of the Vive controller through the underlying Pogo pin Send specific data to a PC via the USB interface of Vive Tracker or use its original approach to do it Use cases There are five use cases supported by Vive Tracker Use Case 1 Use Case 1 Use Case 1 Use Case 1 Track passive objects with a USB cable in VR In this case the dongle is not used and Vive Tracker connects wit...

Page 5: ...k moving objects using a wireless interface in VR with the accessory passing data to a PC via USB BT Wi Fi or propriety RF This case is similar to Use Case 3 but the accessory transfers data to from a PC directly for a specific purpose based on its design Figure Use case 4 of Vive Tracker Use Case 5 Use Case 5 Use Case 5 Use Case 5 Track moving objects using a wireless interface in VR with the acc...

Page 6: ...sories used with the Vive Tracker in order to enable position tracking and input of specific data for the HTC Vive VR system A compatible accessory may be attached to the Vive Tracker to send specific data to a PC through the USB interface of the Vive Tracker The Vive Tracker needs to pair with the dongle to transfer data to a PC The figure below describes the conceptual architecture Figure Concep...

Page 7: ...0 5 3 6 V VESD Electrostatic discharge voltage Human Body Model 4000 V Electrical Characteristics Electrical Characteristics Electrical Characteristics Electrical Characteristics S S S Supply voltage VDD 3 3 V upply voltage VDD 3 3 V upply voltage VDD 3 3 V upply voltage VDD 3 3 V Symbol Parameter Min Typ Max Unit VOH High level output voltage VDD 0 4 V VOL Low level output voltage 0 4 V VIH High ...

Page 8: ...d to the Vive Tracker The following are recommendations for better RF performance Except essential parts such as the 1 4 screw electric connection pad which connects with the Pogo pin and related circuits of the electric connection pad metal parts of the accessory should keep at least 30mm distance away from the antenna to avoid OTA performance reduction when the accessory is attached to Vive Trac...

Page 9: ...ed placing cone extra views will be blocked Figure Docking part extends beyond recommended placing cone Micro USB connector Micro USB connector Micro USB connector Micro USB connector Voltage requirement Voltage requirement Voltage requirement Voltage requirement Max charging current Max charging current Max charging current Max charging current Max charging time Max charging time Max charging tim...

Page 10: ...e user should be able to easily attach and detach Vive Tracker with two hands One hand holds the tracker and the other one holds the accessory c The user should not be physically harmed while attaching or detaching the tracker d The user should be comfortable while attaching and detaching the tracker e The form the accessory attached with the tracker should consist of the shape of the physical obj...

Page 11: ...h in the VR program Multi Multi Multi Multi purpose purpose purpose purpose d d d docking ocking ocking ocking b b b base ase ase ase Users are able to attach the Vive Tracker to any object surface that is intended to be tracked If the object surface is smooth and stiff it is recommended to use stronger adhesive tape for attaching the docking base to the specific object surface ex 3M VHB tape If t...

Page 12: ...TC Corporation 01 19 2017 Ver 1 3 9 HTC Confidential and Proprietary Improper Vive Tracker placement may cause the accessory body to obstruct the tracking performance The mounting distance between tracking FOV and the related accessory size is shown below No tracking area Recommended area to put docking mechanism 270 degree tracking FOV ...

Page 13: ... Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 10 HTC Confidential and Proprietary Mechanical considerations This section describes the mechanical considerations for developers to build various accessories that are compatible to fit or mount with the Vive Tracker Figure Vive Tracker ...

Page 14: ...er Guidelines Developer Guidelines Developer Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 11 HTC Confidential and Proprietary Apparel size Figure Vive Tracker with different angle The overall size of the Vive Tracker is Ф99 65mm 42 27mm H ...

Page 15: ...on e g avoid white color surface since it may cause faulty signal and affect performance Anti reflection painting is preferred 4 Docking Docking Docking Docking M M M Mechanism echanism echanism echanism Standard camera tripod docking method is used which is comprised of 4 1 1 4 Screw nut to fasten the accessory 4 2 Stabilizing pin recess for constraining the tracking from rotation 4 3 Pogo pin po...

Page 16: ...amera tripod docking method which follows ISO standards ISO 1222 2010 The following are the schematic drawings of how the accessory will mount to the Vive Tracker Docking with standard tripod cradle head w o electric connection Figure Docking with standard tripod cradle Vive Tracker can be mounted on the cradle head first and then attached to the main body of the accessory similar to how a camera ...

Page 17: ... Figure Docking with side tightening wheel In this example the mechanical method allows developers to tighten the docking screw through the side spinning wheel It is recommended that the spinning wheel should have a larger diameter 25 mm or greater for better operation This example is able to use the Pogo pin for extending the electric connection to somewhere else 1 4 Bolt Stabilizing Pin Friction...

Page 18: ... standards 1 4 bolt design Please refer to ISO 1222 2010 Figure 1 on page 1 Stabilizing pin design Vive Tracker leverages the design from ISO 1222 2010 Figure 5 on page 3 For details on dimensions and tolerances please refer to pages 13 17 It is suggested to apply the Stabilizing Pin for better tracking performance Screw thread design The screw thread type that applies to Vive Tracker is 1 4 screw...

Page 19: ...e Tracker Vive Tracker Developer Guidelines Developer Guidelines Developer Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 16 HTC Confidential and Proprietary Design of Pogo Pin Pad a Pin definition Vive Tracker ...

Page 20: ...r Vive Tracker Vive Tracker Developer Guidelines Developer Guidelines Developer Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 17 HTC Confidential and Proprietary b Pogo Pin Pad reference design Electrical ...

Page 21: ...cker Vive Tracker Vive Tracker Vive Tracker Developer Guidelines Developer Guidelines Developer Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 18 HTC Confidential and Proprietary Mechanical ...

Page 22: ...ve Tracker Vive Tracker Vive Tracker Vive Tracker Developer Guidelines Developer Guidelines Developer Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 19 HTC Confidential and Proprietary ...

Page 23: ...ve Tracker Vive Tracker Vive Tracker Vive Tracker Developer Guidelines Developer Guidelines Developer Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 20 HTC Confidential and Proprietary ...

Page 24: ...d coordinate system d coordinate system d coordinate system Vive Tracker Vive Tracker Vive Tracker Vive Tracker Datum A is set to be the top surface of the ring feature around the 1 4 Screw Nut Datum B is set to be the intersection point between the centerline of Standard Camera Mount 1 4 Screw Bolt and Datum A Datum C is set to be the intersection point between the centerline of Stabilizing Pin R...

Page 25: ...y Accessory Accessory Accessory Datum A is set to be the top surface of the ring feature around the 1 4 Bolt Datum B is set to be the intersection point between the centerline of 1 4 Screw and Datum A Datum C is set to be the intersection point between the centerline of Stabilizing Pin and Datum A The coordinate system is constructed by the Datum frame of Datum A the line of Datum B and Datum C an...

Page 26: ...irmware for Vive Tracker is released you can upgrade the firmware using a PC tool through USB cable You can find the steps in the Firmware upgrade section System requirements For both content developers and accessory makers For both content developers and accessory makers For both content developers and accessory makers For both content developers and accessory makers 1 To test Vive Tracker with y...

Page 27: ...ry makers If your accessory needs to simulate buttons of the Vive controller or transfer data to a PC through Vive Tracker it must support the following interfaces respectively 1 Pogo pin Please refer to hardware requirement section for detailed information on button simulation 2 USB full speed host and HID class The Vive tracker will act as a USB device to transfer data to from the accessory Figu...

Page 28: ...ween the accessory and the PC through Vive Tracker when the USB interface is used The data format transfer from an accessory to Vive Tracker is sent by a USB HID feature report It is similar to the user interface of the Vive controller Interval to send data should be longer than 10 ms Refer to the table below for the USB command flow between accessory and Vive Tracker SetFeature 0xB3 data format B...

Page 29: ...ag Index Indicates the version of the data you send out Default value is zero in this version of data format 1 Button TRIGGER 0x01 BUMPER 0x02 MENU 0x04 STEAM 0x08 PAD 0x10 PAD_FINGERDOWN 0x20 Reserved 0x40 Reserved 0x80 2 Pad X value Pad X value value from 32768 to 32767 3 4 Pad Y value Pad Y value value from 32768 to 32767 5 6 Trigger Raw Trigger Raw value from 0 to 65535 7 8 Battery Level Batte...

Page 30: ...he accessory is z axis facing the front left handed coordinate system and Vive Tracker is attached in the accessory as the example below Rotation degree and translation distance of an accessory relevant to Vive Tracker are described in roll yaw pitch and Dx Dy Dz respectively during the integration After the center of an accessory has been decided during the design the following degrees and distan...

Page 31: ... Yaw Angle that rotate around y axis in degrees Roll Angle that rotate around z axis in degrees Dx Center distance of x axis between accessory and tracker Dy Center distance of y axis between accessory and tracker Dz Center distance of z axis between accessory and tracker Content developers can collect the above information and transform Tracker pose to accessory pose Assume Tracker rotation matri...

Page 32: ...f const float yaw 91 8736f const float pitch 78 805113f void Update Collect delta rotation and displacement between Tracker and Accessory Vector3 delta_displacement new Vector3 dX dY dZ Quaternion delta_rotation Quaternion Euler roll yaw pitch Get current Tracker pose Vector3 tracker_position SteamVR_Controller Input 3 transform pos Quaternion tracker_rotation SteamVR_Controller Input 3 transform ...

Page 33: ...sory _Y AxisY_ Accessory _Z const Vector3 AxisZ_ Accessory new Vectors AxisZ_ Accessory _X AxisZ_ Accessory _Y AxisZ_ Accessory _Z void Update Calculate delta rotation by comparing vectors parallel to Y axes of Tracker and the accessory Quaternion delta_rotY Quaternion FromToRotation AxisY_Tracker AxisY_Accessory AxisZ_Tracker delta_rotY AxisZ_Tracker Quaternion delta_rotZ Quaternion FromToRotatio...

Page 34: ...add Vive Tracker into SteamVR Assume that you have two Vive controllers already and you have plugged in the dongle into the dongle cradle to PC s USB port Right click on one of the existing controller s icon and click Pair Controller in the pop up menu shown in figure below Press the Power button on Vive Tracker for 2 seconds and then release it to enter the paring mode Figure Pair Vive Tracker Af...

Page 35: ...C Corporation 01 19 2017 Ver 1 3 32 HTC Confidential and Proprietary You can download Unity is 5 3 5f1 Personal from https store unity com download ref personal Figure Unity Version You need to import SteamVR Plugin into your project first If you do not have it yet you can download it from the Asset Store in Unity Figure Unity Asset Store ...

Page 36: ...HTC Confidential and Proprietary In the developer version of Vive Tracker it will use a similar approach and naming as you did to create content for the Vive controller The steps to create content for Vive Tracker are as follows with figures from Unity Step 1 Step 1 Step 1 Step 1 Add CameraRig to Hierarchy to start creating content for SteamVR in Unity Figure Add CameraRig ...

Page 37: ... Guidelines Developer Guidelines Developer Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 34 HTC Confidential and Proprietary Step 2 Step 2 Step 2 Step 2 Create 3D Object for Vive Tracker In this example Capsule is used Figure Create 3D Object ...

Page 38: ...nes Developer Guidelines Developer Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 35 HTC Confidential and Proprietary Step 3 Step 3 Step 3 Step 3 Add Component SteamVR_Tracked Object to the 3D Object Capsule Figure Add Component SteamVR_Tracked Object ...

Page 39: ...oper Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 36 HTC Confidential and Proprietary Step 4 Step 4 Step 4 Step 4 Set size of Objects item in SteamVR Controller Manager In this example one Vive Tracker is used in the setup Figure Set size of object in SteamVR Controller Manager ...

Page 40: ...idelines Developer Guidelines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 37 HTC Confidential and Proprietary Step Step Step Step 5 5 5 5 Set Capsule object to Element0 on the Objects item in SteamVR Controller Manager Figure Set type of object in SteamVR Controller Manager ...

Page 41: ...ines Developer Guidelines HTC Corporation 01 19 2017 Ver 1 3 38 HTC Confidential and Proprietary Step 6 Step 6 Step 6 Step 6 After completing the steps mentioned above press the Run button in Unity When you move Vive Tracker you will see the Capsule object is also moving in the content Figure Execution of Unity ...

Page 42: ... 1 Unplug Vive controller if it connect to PC via USB 2 Connect one Vive Tracker with that PC by using a USB cable 3 Unzip the file we attached upgradeFirmware zip 4 Execute the file upgradeFirmware exe 5 When it done remove cable to reboot device 6 You will see Vive Tracker icon with SteamVR beta For the device after DVT stage follow SteamVR notification to update or follow below steps to upgrade...

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