basalt/doc/monado/WMR.md

Windows Mixed Reality Headsets

We'll need to make a Basalt config file for your headset, let's say it's a Reverb G2.

First, let's get your WMR device json config block. To get that json, set the environment variable WMR_LOG=debug and run Monado with your WMR headset connected. The headset json is printed on start after the line DEBUG [wmr_read_config] JSON config:. Copy that to a file called reverbg2_wmrcalib.json.

Now let's convert this WMR json to a Basalt calibration file with:

$bsltdeps/basalt/data/monado/wmr-tools/wmr2bslt_calib.py reverbg2_wmrcalib.json > $bsltdeps/basalt/data/reverbg2_calib.json

Finally, we'll need to create the main config file for Basalt that references this calibration file we just created. For that let's copy the config that is already present for the Odyssey+:

cp $bsltdeps/basalt/data/monado/odysseyplus_rt8.toml $bsltdeps/basalt/data/monado/reverbg2.toml

And edit the cam-calib field in the reverbg2.toml file to point to your reverbg2_calib.json file.

And that's it, now you just need to reference this reverbg2.toml in the SLAM_CONFIG environment variable before launching Monado with export SLAM_CONFIG=$bsltdeps/basalt/data/monado/reverbg2.toml and Basalt will use the appropriate calibration for your headset.

By default, the UI box SLAM Tracker has the option Submit data to SLAM disabled so that you first manually configure the exposure and gain values in the WMR Camera box. You can enable it yourself in the UI or enable it at start by setting the environment variable SLAM_SUBMIT_FROM_START=true.

Video Walkthrough

Here is a 15 minute walkthrough with some tips for using a WMR headset with Monado and Basalt that should help complement the guide found in the README.md file: https://www.youtube.com/watch?v=jyQKjyRVMS4