Version 2

Various changes to the algorithm, which should result in a more stable experience with no extra knobs. You will need to recalibrate to make use of the full improvement.

• The rotation component of the correction matrix is now Yaw-only if gravity alignment is detected. This should reduce rotation noise by making use of the fact that most tracking systems hard-constrain their up vector to gravity, which will naturally remain constant (if you use this in space, this may not hold, but also send pics).
• The correction filter now applies it's math relative to the HMD pose, making some sources of error also relative to the headset location. Since error generally scales with distance to the pivot or origin, shifting this to the HMD should mean error is minimized where it matters, i.e. close to your viewpoint.
• Pose velocity and acceleration are now transformed correctly, which may lead to better extrapolation behaviour.
• Scale transform is now assumed to be a constant 1x.
  • I believe somebody once told me that Quest and Lighthouse tracking spaces have a constant scale difference of <1x, but actually measuring the results it always comes out within noise of 1.
  • The goal is to reduce calibration noise, but if you know need a scale correction for some reason, set CalibrateScale = true in the .ini config file and recalibrate to restore previous functionality.
  • If CalibrateScale = true gives you better results in general, let me know (and send over a log file)!
• Fixed an issue where time-based smoothing was not accounting for outlier-filtered poses correctly, leading to a more jumpy correction experience in already worse tracking environments.
• Minor logging changes and outlier-detection tuning.

Full Changelog: v1...v2

Version 1

Initial release! See README.md for details on how to use and install Calcium.