<commit_before>{
    /*
    This configuration supports video (so-called "positional") and IMU fusion tracking,
    in addition to orientation-only tracking, with the OSVR HDK.
    It is configured for RenderManager applications in
    direct mode (portrait) on HDK 1.3 optics.
    */
    "display": "displays/OSVR_HDK_1_3.json",
    "renderManagerConfig": "sample-configs/renderManager.direct.portrait.json",
    "drivers": [{
        "plugin": "org_osvr_unifiedvideoinertial",
        "driver": "UnifiedTrackingSystem",
        "params": {
            "showDebug": true,
            "includeRearPanel": true,
            "headCircumference": 55.75,
            "calibrationFile": "videotrackerCombinedCalibrationFile13.json",
            "cameraIsForward": true,
            "measurementVarianceScaleFactor": 3e0,
            "processNoiseAutocorrelation": [3e-2, 3e-2, 3e-2, 1e1, 1e1, 1e1],
            "beaconProcessNoise": 0,
            "initialBeaconError": 0,
            "imu": {
                "orientationVariance": 1e-4,
                "angularVelocityVariance": 1e-2
            }
        }
    }],
    "aliases": {
        "/headSpace": {
            "translate": [0.0, 0.0, 0.04141],
            "child": "/org_osvr_unifiedvideoinertial/UnifiedTrackingSystem/semantic/hmd"
        },
        "/me/head": "/headSpace",
        "/hmd": "/org_osvr_unifiedvideoinertial/UnifiedTrackingSystem/tracker/0",
        "/cam": "/org_osvr_unifiedvideoinertial/UnifiedTrackingSystem/tracker/1",
        "/imu": "/org_osvr_unifiedvideoinertial/UnifiedTrackingSystem/tracker/2",
        "/imuInCam": "/org_osvr_unifiedvideoinertial/UnifiedTrackingSystem/tracker/3"
    }
}
<commit_msg>Updated config file<commit_after>{
    /*
    This configuration supports video (so-called "positional") and IMU fusion tracking,
    in addition to orientation-only tracking, with the OSVR HDK.
    It is configured for RenderManager applications in
    direct mode (portrait) on HDK 1.3 optics.
    */
    "display": "displays/OSVR_HDK_1_3.json",
    "renderManagerConfig": "sample-configs/renderManager.direct.portrait.json",
    "drivers": [{
        "plugin": "org_osvr_unifiedvideoinertial",
        "driver": "UnifiedTrackingSystem",
        "params": {
            "showDebug": true,
            "includeRearPanel": true,
            "headCircumference": 55.75,
            "calibrationFile": "videotrackerCombinedCalibrationFile13.json",
            "cameraIsForward": true,
            "measurementVarianceScaleFactor": 3e0,
            "processNoiseAutocorrelation": [3e-2, 3e-2, 3e-2, 1e1, 1e1, 1e1],
            "beaconProcessNoise": 0,
            "initialBeaconError": 0,
            "imu": {
                "useOrientation": false,
                "orientationVariance": 1e-4,
                "useAngularVelocity": true,
                "angularVelocityVariance": 1e-3
            }
        }
    }],
    "aliases": {
        "/headSpace": {
            "translate": [0.0, 0.0, 0.04141],
            "child": "/org_osvr_unifiedvideoinertial/UnifiedTrackingSystem/semantic/hmd"
        },
        "/me/head": "/headSpace",
        "/hmd": "/org_osvr_unifiedvideoinertial/UnifiedTrackingSystem/tracker/0",
        "/cam": "/org_osvr_unifiedvideoinertial/UnifiedTrackingSystem/tracker/1",
        "/imu": "/org_osvr_unifiedvideoinertial/UnifiedTrackingSystem/tracker/2",
        "/imuInCam": "/org_osvr_unifiedvideoinertial/UnifiedTrackingSystem/tracker/3"
    }
}

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