Microsoft HoloLens Note

本文最后更新于：May 7, 2023 pm

[TOC]

Overview

Hololens 硬件

计算平台

  • Qualcomm Snapdragon 850
  • HPU

设备体系结构

  • x86 = HoloLens（第一代）
  • ARM = HoloLens 2

传感器

深度相机

一个ToF相机，两种工作模式

  • AHAT，高频率 (45 FPS) 用于手部跟踪的近深度运动。 与第一个版本的短引发模式不同，AHAT 提供伪深度，其相位包装超过 1 米。
  • 高引发、低频率 (1-5 FPS) 空间映射使用的远深度探测

Project Kinect for Azure

VLC Camera

4个，用于头部跟踪

IR Camera

2个，用于眼部跟踪

IMU

  • Gyro
  • Acc
  • Mag

麦克风阵列

  • 5通道

光学组件

  • 光引擎
    • 波导
  • 组合器

其他

  • 散热
    • 神经网络：识别 先粗再细
  • 材料
    • 碳纤维

功能分析

  • 头部跟踪
  • 眼部跟踪
  • 手势识别
  • 空间建图
  • 空间定位

Microsoft HoloLens App

Windows 10 上无法连接设备？？？

Windows 设备门户

  • ref: 使用 Windows 设备门户
  • Wifi
    • HoloLens 和 PC 处于同一局域网
    • 浏览器
      • 登录：https://<HOLOLENS-IP> （目前用户名和密码：hongchen）
      • 配置：https://<HOLOLENS-IP>/devicepair.htm (新建用户名和密码，有则忽略)
  • USB（TODO: 127.0.0.1:10080 ???）
    • 浏览器
      • https://<UsbNcm-IP>

HoloLens 研究模式

HoloLensForCV

  • https://github.com/microsoft/HoloLensForCV

HoloLens2ForCV

  • https://github.com/cggos/HoloLens2ForCV

开发环境

  • 根据工程中文档说明安装相关工具

部署样例

  • Visual Studio 打开某一工程，例如 SensorVisualization
  • 配置管理器：Debug | ARM64
  • 部署
    • USB（调试器 选择 设备）
    • WiFi（调试器 选择 远程计算机，输入 Hololens IP地址）
  • 构建
  • 调试运行

注意：

  • 第一次连接设备运行需要PIN码（Hololens开发人员选项->配对）
  • 每个应用第一次部署，需要在Hololens端 同意访问Camera，否则会报“拒绝访问”的错误
  • 应用部署前，需要设备处于登录状态，否则会报“拒绝访问”的错误

Samples

SensorVisualization

StreamRecorder

  • StreamRecorderApp
    • files
      • xxx_head_hand_eye.csv
      • xxx_pv.txt
      • Depth Long Throw_extrinsics.txt
      • Depth Long Throw_lut.bin
      • Depth Long Throw_rig2world.txt
      • Depth Long Throw.tar
      • PV.tar

    • plot rig2world.txt

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      # get rig2world.kitti
      python StreamRecorderConverter/rig2world_to_kitti.py --dir ./output/2021-11-17-223707/

      # evo
      evo_traj kitti rig2world.kitti -p --plot_mode xz

  • StreamRecorderConverter

    • scripts

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      python StreamRecorderConverter/recorder_console.py --workspace_path ./output/  --dev_portal_username hongchen --dev_portal_password hongchen --dev_portal_address 192.168.1.100

      # or only process all
      python StreamRecorderConverter/process_all.py --recording_path output/2021-11-17-223707/

    • issues

      • Q: ssl.SSLCertVerificationError: [SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed: unable to get local issuer certificate (_ssl.c:1091)
      • A: And uncheck SSL connection from Preferences under system at Windows Device Portal.

    • output

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      dev_portal_address 192.168.1.102
      Connecting to HoloLens Device Portal...
      => Connected to HoloLens at address: http://192.168.1.102
      Searching for StreamRecorder application...
      => Found StreamRecorder application with name: 31fa9d1a-a222-4878-a6fc-77aff92195b5_1.0.0.0_arm64__ph1m9x8skttmg
      Searching for recordings...
      => Found a total of 7 recordings

      Available commands:
        help:                     Print this help message
        exit:                     Exit the console loop
        list:                     List all recordings
        list_device:              List all recordings on the HoloLens
        list_workspace:           List all recordings in the workspace
        download X:               Download recording X from the HoloLens
        download_all:             Download all recordings from the HoloLens
        delete X:                 Delete recording X from the HoloLens
        delete_all:               Delete all recordings from the HoloLens
        process X:                Process recording X 

      [     0]  2021-11-03-005026
      [     1]  2021-11-17-223707
      [     2]  2021-11-18-003216
      [     3]  2021-11-18-004432
      [     4]  2021-11-18-005937
      [     5]  2021-11-18-011202
      [     6]  2021-11-18-012204
      Welcome to the recorder shell.   Type help or ? to list commands.

      (recorder console) ?
      Available commands:
        help:                     Print this help message
        exit:                     Exit the console loop
        list:                     List all recordings
        list_device:              List all recordings on the HoloLens
        list_workspace:           List all recordings in the workspace
        download X:               Download recording X from the HoloLens
        download_all:             Download all recordings from the HoloLens
        delete X:                 Delete recording X from the HoloLens
        delete_all:               Delete all recordings from the HoloLens
        process X:                Process recording X 
      (recorder console) list
      Device recordings:
      [     0]  2021-11-03-005026
      [     1]  2021-11-17-223707
      [     2]  2021-11-18-003216
      [     3]  2021-11-18-004432
      [     4]  2021-11-18-005937
      [     5]  2021-11-18-011202
      [     6]  2021-11-18-012204
      Workspace recordings:
      => No recordings found in workspace

      (recorder console) download 1
      Downloading recording 2021-11-17-223707...
      => Downloading: 2021-11-17-223707_head_hand_eye.csv
      => Downloading: 2021-11-17-223707_pv.txt
      => Downloading: Depth Long Throw.tar
      => Downloading: Depth Long Throw_extrinsics.txt
      => Downloading: Depth Long Throw_lut.bin
      => Downloading: Depth Long Throw_rig2world.txt
      => Downloading: PV.tar

      (recorder console) 
      Downloading recording 2021-11-17-223707...
      => Skipping, already downloaded: 2021-11-17-223707_head_hand_eye.csv
      => Skipping, already downloaded: 2021-11-17-223707_pv.txt
      => Skipping, already downloaded: Depth Long Throw.tar
      => Skipping, already downloaded: Depth Long Throw_extrinsics.txt
      => Skipping, already downloaded: Depth Long Throw_lut.bin
      => Skipping, already downloaded: Depth Long Throw_rig2world.txt
      => Skipping, already downloaded: PV.tar
      (recorder console) process 1
      => Recording does not exist
      (recorder console) process 2
      => Recording does not exist

      (recorder console) list
      Device recordings:
      [     0]  2021-11-03-005026
      [     1]  2021-11-17-223707
      [     2]  2021-11-18-003216
      [     3]  2021-11-18-004432
      [     4]  2021-11-18-005937
      [     5]  2021-11-18-011202
      [     6]  2021-11-18-012204
      Workspace recordings:
      [     0]  2021-11-17-223707

      (recorder console) process 0
      Extracting output/2021-11-17-223707/Depth Long Throw.tar
      Extracting output/2021-11-17-223707/PV.tar
      Processing images
      .....................................................................................................................
      Saving point clouds
      .....................................................................................................................
      Average PV delta: -0.171ms, fps: -5860.911
      Average Depth Long Throw delta: -22.223ms, fps: -44.999
      Average hand/head delta: 17.628ms, fps: 56.728
      (recorder console)

软件开发

Core App (C++/WinRT)

Research Mode API

  • Research Mode API is based on a light-weight derivation of COM called Nano-COM.

  • ResearchModeApi.h

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    struct AccelDataStruct
    {
        uint64_t VinylHupTicks;
        uint64_t SocTicks;
        float AccelValues[3];
        float temperature;
    };

    struct GyroDataStruct
    {
        uint64_t VinylHupTicks;
        uint64_t SocTicks;
        float GyroValues[3];
        float temperature;
    };

    struct MagDataStruct
    {
        uint64_t VinylHupTicks;
        uint64_t SocTicks;
        float MagValues[3];
    };

    enum ResearchModeSensorType
    {
        LEFT_FRONT,
        LEFT_LEFT,
        RIGHT_FRONT,
        RIGHT_RIGHT,
        DEPTH_AHAT,
        DEPTH_LONG_THROW,
        IMU_ACCEL,
        IMU_GYRO,
        IMU_MAG
    };

    DECLARE_INTERFACE_IID_(IResearchModeSensorVLCFrame, IUnknown, "5C693123-3851-4FDC-A2D9-51C68AF53976")
    {
        STDMETHOD(GetBuffer(
            _Outptr_ const BYTE **ppBytes,
            _Out_ size_t *pBufferOutLength)) = 0;
        STDMETHOD(GetGain(
            _Out_ UINT32 *pGain)) = 0;
        STDMETHOD(GetExposure(
            _Out_ UINT64 *pExposure)) = 0;
    };

    DECLARE_INTERFACE_IID_(IResearchModeSensorDepthFrame, IUnknown, "35167E38-E020-43D9-898E-6CB917AD86D3")
    {
        STDMETHOD(GetBuffer(
            _Outptr_ const UINT16 **ppBytes,
            _Out_ size_t *pBufferOutLength)) = 0;
        STDMETHOD(GetAbDepthBuffer(
            _Outptr_ const UINT16 **ppBytes,
            _Out_ size_t *pBufferOutLength)) = 0;
        STDMETHOD(GetSigmaBuffer(
            _Outptr_ const BYTE **ppBytes,
            _Out_ size_t *pBufferOutLength)) = 0;
    };

    DECLARE_INTERFACE_IID_(IResearchModeAccelFrame, IUnknown, "42AA75F8-E3FE-4C25-88C6-F2ECE1E8A2C5")
    {
        STDMETHOD(GetCalibratedAccelaration(
            _Out_ DirectX::XMFLOAT3 *pAccel)) = 0;
        STDMETHOD(GetCalibratedAccelarationSamples(
            _Outptr_ const AccelDataStruct **ppAccelBuffer,
            _Out_ size_t *pBufferOutLength)) = 0;
    };

    DECLARE_INTERFACE_IID_(IResearchModeGyroFrame, IUnknown, "4C0C5EE7-CBB8-4A15-A81F-943785F524A6")
    {
        STDMETHOD(GetCalibratedGyro(
            _Out_ DirectX::XMFLOAT3 *pGyro)) = 0;
        STDMETHOD(GetCalibratedGyroSamples(
            _Outptr_ const GyroDataStruct **ppAccelBuffer,
            _Out_ size_t *pBufferOutLength)) = 0;
    };

    DECLARE_INTERFACE_IID_(IResearchModeMagFrame, IUnknown, "2376C9D2-7F3D-456E-A39E-3B7730DDA9E5")
    {
        STDMETHOD(GetMagnetometer(
            _Out_ DirectX::XMFLOAT3 *pMag)) = 0;
        STDMETHOD(GetMagnetometerSamples(
            _Outptr_ const MagDataStruct **ppMagBuffer,
            _Out_ size_t *pBufferOutLength)) = 0;
    };

XR
#Stereo Vision #Camera #Visual SLAM #HoloLens
Microsoft HoloLens Note
https://cgabc.xyz/posts/36815a4c/
Author
Gavin Gao
Posted on
November 2, 2021
Licensed under