14/01 09:53:40.422024 {info}	[VISION][VisionInterface] Created IO Engine
14/01 09:53:40.428529 {info}	[VISION][CONSTELLATION:TRACKING_ENGINE] Registering camera...
14/01 09:53:40.428529 {info}	[VISION][CONSTELLATION:TRACKING_ENGINE] Registering camera...
14/01 09:53:40.428529 {info}	[VISION][CONSTELLATION:TRACKING_ENGINE] Registering camera...
14/01 09:53:40.428529 {info}	[VISION][CONSTELLATION:TRACKING_ENGINE] Registering camera...
14/01 09:53:40.428529 {info}	[VISION][CONSTELLATION:TRACKING_ENGINE] Registering camera...
14/01 09:53:40.429030 {info}	[VISION][EXPCTRL] Exposure intensity target = 75
14/01 09:53:40.433533 {info}	[VISION][VisionInterface] Configuring IO Engine
14/01 09:53:40.434034 {info}	[VISION][VisionInterface] GK check: 'oculus_mapmerging_gk': true
14/01 09:53:40.434534 {info}	[VISION][VisionInterface] GK check: 'oculus_enable_vega': false
14/01 09:53:40.434534 {info}	[VISION][VisionInterface] GK check: 'oculus_enable_vega_v24': false
14/01 09:53:40.434534 {info}	[VISION][VisionInterface] GK check: 'oculus_enable_mapper_ocal_first_session': true
14/01 09:53:40.434534 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: timed).
14/01 09:53:40.434534 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: /data/misc/tracking/frame_log.json).
14/01 09:53:40.434534 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: /data/misc/tracking/relocalization_log.json).
14/01 09:53:40.434534 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: 20).
14/01 09:53:40.434534 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: C:/open/vision/frame_log.json).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: C:/open/vision/relocalization_log.json).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: slam.map).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: tracking.profiling).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: C:/open/vision/recording.vrs).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: 0).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: 1).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: 0).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: 0).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: none).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: 0).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: 10).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: 10).
14/01 09:53:40.435035 {warning}	[VISION][CONFIG] Config contains a key which is not used (Value: 10).
14/01 09:53:40.435035 {info}	[VISION][VisionInterface] Enabling MapperOcal during first session!
14/01 09:53:40.435035 {info}	[VISION][VisionInterface] GK check: 'oculus_num_persistent_maps_5_gk': false
14/01 09:53:40.437037 {info}	[VISION][VisionInterface] Registering Camera.	 Online Estimated Calibration!
-------
Parameters:      191.171       313.71      240.001     0.281821    0.0499195    -0.242444     0.181703    -0.062735   0.00897574 -5.64394e-05 -0.000163773
T_cameraFromDevice
-0.999996 -0.00049183 0.00274162 -0.000776169
0.00274217 -0.00111236 0.999996 0.0655206
-0.000488778 0.999999 0.0011137 -0.0454716

14/01 09:53:40.437037 {info}	[VISION][VisionInterface] Registering Camera.	 Online Estimated Calibration!
-------
Parameters:     192.589     319.644     231.519    0.272641    0.087544     -0.3183     0.25828  -0.0993611   0.0156169 0.000359015 9.44837e-05
T_cameraFromDevice
-0.374124 0.872686 -0.313769 -0.0193882
-0.0321051 -0.350324 -0.936078 -0.0588101
-0.926823 -0.340136 0.159083 -0.0736942

14/01 09:53:40.437537 {info}	[VISION][VisionInterface] Registering Camera.	 Online Estimated Calibration!
-------
Parameters:      192.178      325.768      232.299     0.278957    0.0650461    -0.273634     0.214449   -0.0794139    0.0121977  0.000130267 -0.000711396
T_cameraFromDevice
-0.00730165 0.936517 -0.350546 0.0026632
0.999967 0.00809209 0.000790116 -0.0538377
0.00357661 -0.350529 -0.936545 -0.0753863

14/01 09:53:40.437537 {info}	[VISION][VisionInterface] Registering Camera.	 Online Estimated Calibration!
-------
Parameters:      192.399      318.777      225.309     0.278811    0.0639665    -0.270699     0.210874   -0.0773491    0.0117537  0.000258639 -0.000403038
T_cameraFromDevice
0.00690194 0.936459 -0.35071 0.0027029
0.999976 -0.00649171 0.0023454 0.0547966
-8.03335e-05 -0.350718 -0.936481 -0.0756302

14/01 09:53:40.437537 {info}	[VISION][VisionInterface] Registering Camera.	 Online Estimated Calibration!
-------
Parameters:      192.436      323.351      232.295     0.277595    0.0722184    -0.287094     0.226516   -0.0846787    0.0130921  0.000120973 -8.49444e-05
T_cameraFromDevice
0.367071 0.878169 -0.306721 -0.0190609
-0.0462534 0.346562 0.936886 0.0593194
0.929042 -0.329717 0.167831 -0.0730021

14/01 09:53:40.438038 {info}	[VISION][VIPER] Stereo overlap between cameras 3 and 2
14/01 09:53:40.439538 {info}	[VISION][VIPER] Stereo overlap between cameras 3 and 2
14/01 09:53:40.440039 {info}	[VISION][VisionInterface] Parsing imu cal.
14/01 09:53:40.440039 {info}	[VISION][VIPER] Loading noise parameters for: PVT
14/01 09:53:40.440039 {warning}	[VISION][VIPER] Loading noise parameters from config. [SensorModel: PVT]
14/01 09:53:40.440039 {info}	[VISION][viper::viper::imu_types] Creating ScaleMisalignedImuModel: 
-------
Accel:
Offset: -0.0914567 -0.0752047 -0.0405685  	 Temp correction: 0 0 0  	 calibration temperature [degC]: 0.0
Rectification
0.0108743 -0.998014 0.00402826
-0.997741 -0.0110919 -0.00714961
0.00761024 -0.0053157 -0.995224

-------
Gyro:
Offset: -0.0140271 -0.000629661 -0.00620499 
Rectification
0.0119997 -0.997772 0.00523489
-0.999104 -0.010436 -0.00732208
0.00691242 -0.00559193 -0.996753

-------
T_deviceFromImu
1 0 0 -0.000295
0 1 0 -0.0190975
0 0 1 -0.068692

14/01 09:53:40.440039 {info}	[VISION][VisionInterface] Registering IMU factory cal.
14/01 09:53:40.440039 {info}	[VISION][VisionInterface] registerImu FACTORY success.
14/01 09:53:40.440039 {error}	[VISION][IO] Failed to parse the calibration data: Invalid JSON format: line -1, position -1: The document is empty.
14/01 09:53:40.440039 {info}	[VISION][VIPER] Setting calibration handler.
14/01 09:53:40.440540 {info}	[VISION][VIPER:OCAL] Deserializing online calibration state from C:\Users\tracey\AppData\Local\Oculus\insideout\ocal/ViJoint1WMGH520LB0036.ocal
14/01 09:53:40.469064 {info}	[VISION][VIPER:OCAL] Deserialized online cal state for extrinsics: 12 segments
14/01 09:53:40.469064 {info}	[VISION][VIPER:OCAL] Deserialized online cal state for intrinsics: 12 segments
14/01 09:53:40.470565 {error}	[VISION][IO] Failed to parse the calibration data: Invalid JSON format: line -1, position -1: The document is empty.
14/01 09:53:40.470565 {info}	[VISION][VIPER] Loading noise parameters for: 
14/01 09:53:40.470565 {warning}	[VISION][VIPER] Loading noise parameters from config. [SensorModel: ]
14/01 09:53:40.470565 {info}	[VISION][viper::viper::imu_types] Creating ScaleMisalignedImuModel: 
-------
Accel:
Offset: -0.0914567 -0.0752047 -0.0405685  	 Temp correction: 0 0 0  	 calibration temperature [degC]: 0.0
Rectification
0.0108743 -0.998014 0.00402826
-0.997741 -0.0110919 -0.00714961
0.00761024 -0.0053157 -0.995224

-------
Gyro:
Offset: -0.0140271 -0.000629661 -0.00620499 
Rectification
0.0119997 -0.997772 0.00523489
-0.999104 -0.010436 -0.00732208
0.00691242 -0.00559193 -0.996753

-------
T_deviceFromImu
1 0 0 -0.000295
0 1 0 -0.0190975
0 0 1 -0.068692

14/01 09:53:40.471066 {info}	[VISION][OtWrapper] Factory calibration used for IMU
14/01 09:53:40.471066 {info}	[VISION][OtWrapper] Reset (hard)
14/01 09:53:40.471066 {info}	[VISION][CONSTELLATION:TRACKING_ENGINE] Configuring Constellation Engine
14/01 09:53:40.471566 {info}	[VISION][Blackboard] reset
14/01 09:53:40.471566 {info}	[VISION][ControllerMotionModel] registering AtRest with priority 0
14/01 09:53:40.471566 {info}	[VISION][ControllerMotionModel] registering NearHeadMoving with priority 2
14/01 09:53:40.471566 {info}	[VISION][ControllerMotionModel] registering HandOverHand with priority 3
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] Extrinsics:
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] Orientation:
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] -0.9999961208008004
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] 0.0027421668717806037
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] -0.000488778271127675
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] -0.000491830089027348
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] -0.0011123580894538687
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] 0.9999992603810486
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] 0.0027416211471581794
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] 0.9999956215805788
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] 0.0011137024545719854
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] Translation:
14/01 09:53:40.472067 {info}	[VISION][CONSTELLATION] -0.000978059948615632
14/01 09:53:40.472567 {info}	[VISION][CONSTELLATION] 0.04554407063056239
14/01 09:53:40.472567 {info}	[VISION][CONSTELLATION] -0.06546755196949497
14/01 09:53:40.472567 {info}	[VISION][CONSTELLATION] Camera model: Camera Type: Fisheye62CameraModelLut1D 
Description: Uses a lookup table to speed up unproject() 
Image Size: (640, 480)
Focal length: 191.171
Principal point:  313.71
240.001
radial distortion   0.281821
 0.0499195
 -0.242444
  0.181703
 -0.062735
0.00897574
tangential distortion -5.64394e-05
-0.000163773
14/01 09:53:40.472567 {warning}	[VISION][CONSTELLATION] Modifying camera model: Add 0.5px to focal length due to IR light.
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] Extrinsics:
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] Orientation:
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] -0.37412438272608783
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] -0.03210508590690231
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] -0.9268226419918397
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] 0.8726856653450539
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] -0.35032441909089096
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] -0.34013604761902283
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] -0.3137685066272331
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] -0.9360780228418676
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] 0.1590825553018802
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] Translation:
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] -0.07744320577981557
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] -0.028748888818782608
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] -0.04941082640332153
14/01 09:53:40.473067 {info}	[VISION][CONSTELLATION] Camera model: Camera Type: Fisheye62CameraModelLut1D 
Description: Uses a lookup table to speed up unproject() 
Image Size: (640, 480)
Focal length: 192.589
Principal point: 319.644
231.519
radial distortion   0.272641
  0.087544
   -0.3183
   0.25828
-0.0993611
 0.0156169
tangential distortion 0.000359015
9.44837e-05
14/01 09:53:40.473067 {warning}	[VISION][CONSTELLATION] Modifying camera model: Add 0.5px to focal length due to IR light.
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] Extrinsics:
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] Orientation:
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] -0.0073016523523037336
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] 0.9999669463122888
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] 0.003576612336045948
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] 0.9365168852010141
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] 0.008092094852681031
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] -0.35052908828553175
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] -0.3505464442927884
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] 0.000790116302494398
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] -0.9365450155277706
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] Translation:
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] 0.054124984522179176
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] -0.028483554097139468
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] -0.06962652906400311
14/01 09:53:40.473568 {info}	[VISION][CONSTELLATION] Camera model: Camera Type: Fisheye62CameraModelLut1D 
Description: Uses a lookup table to speed up unproject() 
Image Size: (640, 480)
Focal length: 192.178
Principal point: 325.768
232.299
radial distortion   0.278957
 0.0650461
 -0.273634
  0.214449
-0.0794139
 0.0121977
tangential distortion  0.000130267
-0.000711396
14/01 09:53:40.473568 {warning}	[VISION][CONSTELLATION] Modifying camera model: Add 0.5px to focal length due to IR light.
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] Extrinsics:
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] Orientation:
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] 0.006901935212866195
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] 0.9999761781346842
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] -8.033347563038418e-05
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] 0.9364587981817246
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] -0.006491706956278653
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] -0.35071751745362445
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] -0.3507096842095424
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] 0.0023454005934395727
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] -0.9364812953271937
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] Translation:
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] -0.05482004948335988
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] -0.028700257228989383
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] -0.07000684136635639
14/01 09:53:40.474068 {info}	[VISION][CONSTELLATION] Camera model: Camera Type: Fisheye62CameraModelLut1D 
Description: Uses a lookup table to speed up unproject() 
Image Size: (640, 480)
Focal length: 192.399
Principal point: 318.777
225.309
radial distortion   0.278811
 0.0639665
 -0.270699
  0.210874
-0.0773491
 0.0117537
tangential distortion  0.000258639
-0.000403038
14/01 09:53:40.474068 {warning}	[VISION][CONSTELLATION] Modifying camera model: Add 0.5px to focal length due to IR light.
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] Extrinsics:
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] Orientation:
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] 0.36707137052587935
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] -0.04625337598717294
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] 0.9290421056927622
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] 0.8781691801731538
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] 0.34656242644323143
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] -0.3297171144660081
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] -0.30672055675201076
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] 0.9368858573954295
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] 0.16783143411818746
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] Translation:
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] 0.0775624511371067
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] -0.027889259164182452
14/01 09:53:40.474569 {info}	[VISION][CONSTELLATION] -0.049169844599270304
14/01 09:53:40.475069 {info}	[VISION][CONSTELLATION] Camera model: Camera Type: Fisheye62CameraModelLut1D 
Description: Uses a lookup table to speed up unproject() 
Image Size: (640, 480)
Focal length: 192.436
Principal point: 323.351
232.295
radial distortion   0.277595
 0.0722184
 -0.287094
  0.226516
-0.0846787
 0.0130921
tangential distortion  0