Vive Tracker APIServer

Get Started

pip install vive-tracker-apiserver

From source:

git clone https://github.com/mvig-robotflow/vive-tracker-apiserver
cd vive-tracker-apiserver
python setup.py install

Usage

Set up the SteamVR

First, install SteamVR. Configure and pair the trackers with HMD or receiver.

Then run the configuration command:

python -m vive_tracker_apiserver configure

This will automatically detect all trackable devices and generate a config.yaml file under $pwd. It looks like this

vive_tracker_apiserver:
  api:
    interface: 0.0.0.0
    port: 8080
  data_path: ./tracker_data
  debug: false
  trackers:
  - name: tracker_1
    uid: LHR-656F5409
  - name: tracker_2
    uid: LHR-6A736404

The screen might blink during this configuration

After the configuration. Run the apiserver with configuration

python -m vive_tracker_apiserver serve --config=config.yaml

...
INFO:apiserver.app:loading openvr components
...
INFO:apiserver.app:server is tarted!
INFO:apiserver.app:vive tracker service listen at 8080
INFO:apiserver.app:vive tracker config Config(path='./config.yaml', trackers=[TrackerConfig(uid='LHR-656F5409', name='tracker_1'), TrackerConfig(uid='LHR-6A736404', name='tracker_2')], api_port=8080, api_interface='0.0.0.0', debug=False, data_path='./tracker_data', valid=True)

Here is a minimal working example:

import time
from vive_tracker_apiserver.client import Client

def get_description(data):
    return str([f'id:{item.meta.uid} x: {item.pos_x:.2f} y: {item.pos_y:.2f} z: {item.pos_z:.2f}' for item in data.payload])

def test_server():
    endpoint = "localhost:8080"

    c = Client(endpoint)
    response = c.get_group()
    print("GetTrackerGroup client received: " + str(response))

    stream = c.open_group_stream()
    print("GetTrackerGroupStream client received: " + str(response))

    try:
        while True:
            data = stream.read()
            if data.meta.valid == False:
                time.sleep(0.05)
                continue
            print('\r'+get_description(data), end="")
    except KeyboardInterrupt as e:
        stream.close()

if __name__ == '__main__':
    test_server()

gRPC Server

Run this command

python -m vive_tracker_apiserver serve

Testing with cli tools

python -m vive_tracker_apiserver test.server

You will be asked to input API endpoint.

Testing with Open3D visualization

python -m vive_tracker_apiserver test.visualize

You will be asked to input API endpoint.

Generate Client

First run cd vive_tracker_apiserver/grpc, then run:

# cd vive_tracker_apiserver/grpc
python -m grpc_tools.protoc -I../../manifests/protos --python_out=. --pyi_out=. --grpc_python_out=. ../../manifests/protos/tracker_packet.proto

You might need to replace line 5 of vive_tracker_apiserver/grpc/tracker_packet_pb2_grpc.py with import vive_tracker_apiserver.grpc.tracker_packet_pb2 as tracker__packet__pb2