Runs at 70fps, but is very laggy in VR.

[ju1ce]

Runs at 70fps, but is very laggy in VR.

[ju1ce]

There are a few different steps that happen when translating the 2d pose to 3d which introduces extra jitter, such as:

• Estimating depth from camera is extremely innacurate, and is completely guessed
• Mediapipe does not know how the camera is oriented and that it is static, so it keeps guessing which way is the floor and how much you are leaning
• The headset position in steamvr is being alligned to the head position in mediapipe

So, getting perfect tracking is hard, but there are ways to improve it:

• Better lighting and lighter clothes, so you are seen well in the camera, help a lot. If your whole outfit is just black, it will have a lot of trouble. It also helps if your pants are diffrent color than shirt, so it has a clear seperation.
• Having camera head high and pointing downward sometimes also helps

As for the smoothing parameters, the apriltagtrackers wiki has some graphs to help understand what exactly they do: https://github.com/ju1ce/April-Tag-VR-FullBody-Tracker/wiki/Refining-parameters

The smoothing window doesnt work as well for mediapipe as for att, so its good to have it low. If you download the latest version of apriltagtrackers and install that driver, you will also have an option to disable it and use additional smoothing only.