Xuxin Cheng*, Jialong Li*, Shiqi Yang, Ge Yang, Xiaolong Wang
UC San Diego, MIT
Stream head, hand, wrist data from VisionPro or Meta Quest 3. Stream real-time stereo video from camera to VR Devices.
conda create -n tv python=3.8
conda activate tv
pip install 'vuer[all]==0.0.31rc7 opencv-python numpy'
Install zed sdk: https://www.stereolabs.com/developers/release/
Apple does not allow WebXR on non-https connections. To test the application locally, we need to create a self-signed certificate and install it on the client. You need a ubuntu machine and a router. Connect the VisionPro and the ubuntu machine to the same router.
- install mkcert: https://github.com/FiloSottile/mkcert
- check local ip address:
ifconfig | grep inet
Suppose the local ip address of the ubuntu machine is 192.168.8.102
.
- create certificate:
mkcert -install && mkcert -cert-file cert.pem -key-file key.pem 192.168.8.102 localhost 127.0.0.1
- open firewall on server
sudo iptables -A INPUT -p tcp --dport 8012 -j ACCEPT
sudo iptables-save
sudo iptables -L
or can be done with ufw
:
sudo ufw allow 8012
self.app = Vuer(host='0.0.0.0', cert="./cert.pem", key="./key.pem")
- install ca-certificates on VisionPro
mkcert -CAROOT
Copy the rootCA.pem via AirDrop to VisionPro and install it.
Settings > General > About > Certificate Trust Settings. Under "Enable full trust for root certificates", turn on trust for the certificate.
settings > Apps > Safari > Advanced > Feature Flags > Enable WebXR Related Features
-
open the browser on Safari on VisionPro and go to
https://192.168.8.102:8012?ws=wss://192.168.8.102:8012
-
Click
Enter VR
andAllow
to start the VR session.
For Meta Quest3, installation of the certificate is not trivial. We need to use a network streaming solution. We use ngrok
to create a secure tunnel to the server. This method will work for both VisionPro and Meta Quest3.
- Install ngrok: https://ngrok.com/download
- Run ngrok
ngrok http 8012
- Copy the https address and open the browser on Meta Quest3 and go to the address.
@misc{cheng2022open,
title={Open-TeleVision: open-source tele-operation with vision},
author={Cheng, Xuxin and Li, Jialong and Yang, Shiqi and Yang, Ge and Wang, Xiaolong},
year={2024}
}