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HTC Vive Tracker Developer Manuallines

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HTC Vive Tracker
Developer Guidelines
Ver. 1.5

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Summary of Contents for HTC Vive Tracker

  • Page 1 HTC Vive Tracker Developer Guidelines Ver. 1.5...
  • Page 2 ©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: Table Of Contents

    Contents Introduction ..........................1 Use cases ..........................1 Hardware requirements ......................2 Interface ..........................4 Radio frequency (RF) ......................5 Power ............................. 6 Optics ............................. 6 Docking ..........................7 Docking embodiments ........................7 Mechanical considerations ...................... 11 Apparel size ......................... 12 Main feature .........................

  • Page 4: Introduction

    PC. An accessory attached to Vive Tracker 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.

  • Page 5: Hardware Requirements

    Use Case 5: Track moving objects using a wireless interface in VR, with the accessory simulating buttons of the Vive controller or passing data to a PC via the Vive Tracker. This case is similar to Use Case 3, but the accessory connects with the Vive Tracker to transfer...
  • Page 6 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.

  • Page 7: Interface

    Electrical Characteristics (Supply voltage VDD = 3.3 V) Symbol Parameter Unit High-level output voltage VDD - 0.4 Low-level output voltage High-level input voltage 0.7VDD Low-level input voltage 0.3VDD High-level output current Low-level output current High-level input current Low-level input current HTC Confidential and Proprietary...

  • Page 8: Radio Frequency (Rf)

    07/17/2017 Ver. 1.5 Radio frequency (RF) To establish a stable wireless connection between the Vive Tracker and the dongle, the OTA performance of Vive Tracker cannot downgrade to more than 3dB when an accessory is attached to the Vive Tracker.

  • Page 9: Power

    Table: Micro USB connector and Pogo pin indication Optics The field of view (FOV) of Vive Tracker is 270 degrees. Avoid placing the structure within the view angle, since it will block responses from Vive Tracker sensors when placed in that direction.

  • Page 10: Docking

    Furthermore, Vive Tracker has constraining features, such as the longer screw cannot fasten all the way in. The user should be able to easily attach and detach Vive Tracker with two hands. One hand holds Vive Tracker, and the other one holds the accessory.
  • Page 11 VR program. Multi-purpose docking base 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.
  • Page 12 Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 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: HTC Confidential and Proprietary...
  • Page 13 Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 270 degree tracking FOV No tracking area Recommended area to put docking mechanism HTC Confidential and Proprietary...

  • Page 14: Mechanical Considerations

    Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 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 HTC Confidential and Proprietary...

  • Page 15: Apparel Size

    Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 Apparel size Figure: Vive Tracker with different angle The overall size of the Vive Tracker is Ф99.65mm * 42.27mm (H). HTC Confidential and Proprietary...

  • Page 16: Main Feature

    4.3 Pogo pin port (spring contact-type) for optional electrical connection to the accessory. 4.4 Friction pad for providing steady friction between the accessory and Vive Tracker. 5. USB Port: Used for electrical connection to the accessory through a micro USB cable.

  • Page 17: Docking Mechanism

    Friction Pad 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 is mounted on a tripod). HTC Confidential and Proprietary...

  • Page 18: Docking With Side Tightening Wheel (W/ Electric Connection If Needed)

    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. HTC Confidential and Proprietary...

  • Page 19: Accessory Design

    Stabilizing Pin for better tracking performance.  Screw thread design The screw thread type that applies to Vive Tracker is 1/4” screw with 1.27 mm pitch. For detailed information, please refer to ISO 1222-2010, pages 3-5. HTC Confidential and Proprietary...

  • Page 20: Design Of Pogo Pin Pad

    Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 Design of Pogo Pin Pad Pin definition (Vive Tracker) HTC Confidential and Proprietary...
  • Page 21 Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 Pogo Pin Pad reference design Electrical HTC Confidential and Proprietary...
  • Page 22 Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 Mechanical HTC Confidential and Proprietary...
  • Page 23 Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 HTC Confidential and Proprietary...
  • Page 24 Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 HTC Confidential and Proprietary...

  • Page 25: Coordinate System

    Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 Coordinate system Vive Tracker uses the “Right-handed coordinate system”. Vive Tracker  Datum A is set to be the top surface of the ring feature around the 1/4” Screw Nut. ...
  • Page 26  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, and Datum C itself. HTC Confidential and Proprietary...

  • Page 27: Software Components

    This section describes software components for the HTC Vive Tracker. If you are an accessory maker, you can transfer data through Vive Tracker. You may refer to the detailed data format transfer between an accessory and Vive Tracker in the Data format section.
  • Page 28 Vive Tracker, it must support the following interfaces respectively: 1. Pogo pin 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. Device...

  • Page 29: Data Format

    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.
  • Page 30 Byte Index 3: Configures Vive Tracker’s low pass filter setting to maintain tracking performance when the accessory vibrates. It will revert to the default value ‘0’ after 30 seconds, or set it to default manually. The field supports Vive Tracker firmware v.20 and higher.
  • Page 31 Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 Provided below are sample codes to send the setFeature command to Vive Tracker. Note that you need to reference the correct API in your system to implement the USB setFeature command. Visual Studio: buffer[0] = 0xB3;...

  • Page 32: Accessory Integration

    It is assumed that the local coordinate system of the accessory is z-axis facing the front (left- handed coordinate system), and Vive Tracker is attached in the accessory as in the example below. Rotation degree and translation distance of an accessory relevant to Vive Tracker are described in roll, yaw, pitch and D respectively during the integration.
  • Page 33 Ver. 1.5 An example of using a gun as an accessory is described in the figure below: Figure: Example to integrate accessory and Vive Tracker Pitch : Angle that rotate around x axis in degrees Yaw : Angle that rotate around y axis in degrees...
  • Page 34 = SteamVR_Controller.Input(3).transform.pos; Quaternion tracker_rotation = SteamVR_Controller.Input(3).transform.rot; //Transform current Tracker pose to Accessory pose GameObject.Find("Accessory ").transform.rotation = tracker_rotation * delta_rotation; GameObject.Find("Accessory ").transform.position = tracker_position + (tracker_rotation * delta_rotation) * delta_displacement; Figure: Unity sample code for accessory integration (1) HTC Confidential and Proprietary...
  • Page 35 Ver. 1.5 Another Unity sample code shows how to transform the accessory by comparing vectors parallel to y-axis and z-axis of the Vive Tracker (AxisY_Tracker, AxisZ_Tracker in example below) and the accessory (AxisY_Accessory, AxisZ_Accessory in example below). public class Accessory : MonoBehaviour { const Vector3 AxisY_Tracker = new Vectors(AxisY_Tracker_X, AxisY_Tracker_Y, AxisY_Tracker_Z);...

  • Page 36: Unity Integration

    Tracker for 2 seconds, and then release it to enter the paring mode. Figure: Pair Vive Tracker After paring is successful between the Vive Tracker and the dongle, you will see that the Vive Tracker is detected in the SteamVR...
  • Page 37 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 HTC Confidential and Proprietary...
  • Page 38 07/17/2017 Ver. 1.5 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: Add “CameraRig”...
  • Page 39 Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 Step 2: Create the 3D Object for Vive Tracker. In this example, “Capsule” is used. Figure: Create 3D Object HTC Confidential and Proprietary...
  • Page 40 Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 Step 3: Add Component > SteamVR_Tracked Object to the 3D Object “Capsule”. Figure: Add Component “SteamVR_Tracked Object” HTC Confidential and Proprietary...
  • Page 41 07/17/2017 Ver. 1.5 Step 4: Under SteamVR Controller Manager, set the size of the Objects item. In this example, one Vive Tracker is used in the setup. Figure: Set size of object in “SteamVR Controller Manager” HTC Confidential and Proprietary...
  • Page 42 Vive Tracker Developer Guidelines HTC Corporation 07/17/2017 Ver. 1.5 Step 5: Under SteamVR Controller Manager, on the Element 0 field, select “Capsule” as the GameObject. Figure: Set type of object in “SteamVR Controller Manager” HTC Confidential and Proprietary...

  • Page 43: Tracker On Unity Or Unreal

    Ver. 1.5 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 Tracker on Unity or Unreal...
  • Page 44 For devices in DVT stage, please follow these steps to upgrade the firmware with the upgradeFirmware.zip file. *Note: Check the device number on the power key of your Vive Tracker. If the device number starts with D, it is in DVT stage.

  • Page 45: Faq

    1. Turn on the headset and pair the2 controllers. Tracker? 2. Connect the dongle to your computer. 3. Turn on Vive Tracker to start the pairing process automatically. Warning: If Vive Tracker cannot be automatically paired the first time, the dongle may pair with another equipment.
  • Page 46 USB cable, and then press and hold the Power button for 10 seconds. How many Tracker can be The maximum number of tracking objects can be adapted? adopted is 11 pcs of Vive Tracker plus 2 pcs of Vive controller. HTC Confidential and Proprietary...
  • Page 47 The 1.77KB ZIP file contains the .IGS and .STP for CAD file for the Vive Tracker? Vive Tracker. It's not a requirement to use the files, but it can help if you have 3D modeling software. HTC Confidential and Proprietary...

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