OpenXR - How to set up and use Psychtoolbox OpenXR support.
Since Psychtoolbox version 3.0.19, Psychtoolbox supports the modern
Khronos open, cross-platform, cross-vendor, cross-device OpenXR api for
implementing (V)irtual (R)eality VR, (A)ugmented (R)ealtiy AR, and/or
(M)ixed (R)eality MR applications, summarized under the umbrella term
e(X)tended (R)eality XR, hence the name OpenXR. See:
Unless otherwise specified by a users script, the
PsychVRHMD(‘AutoSetupHMD’) function from now on will try to use a system
installed OpenXR runtime to run VR applications, with fallbacks to the
older legacy drivers like PsychOculusVR1 for Oculus devices on
MS-Windows, PsychOculusVR for Oculus Rift DK-1/DK-2 on Linux/X11 and
MS-Windows, or to PsychOpenHMDVR on Linux/X11. The driver is designed to
be reasonably backwards compatible, so most scripts should continue to
work unmodified “plug & play”.
In the current release we support the XR subset of VR virtual reality
applications by use of any VR Head mounted display (VR-HMD) and for VR
input devices which are supported by a OpenXR 1.0 compliant runtime that
provides the following minimum set of OpenXR 1.0 extensions:
- All: XR_KHR_opengl_enable, XR_EXT_debug_utils, and XR_KHR_composition_layer_depth.
- Additionally on MS-Windows: XR_KHR_WIN32_convert_performance_counter_time.
- Additionally on Linux/Unix: XR_KHR_convert_timespec_time.
- Optional, but not tested without it: XR_FB_display_refresh_rate.
- Optional, for improved input controller support: XR_EXT_hp_mixed_reality_controller,
So far successfully tested with the PTB 126.96.36.199 initial release are:
The open-source Monado(XR) runtime version 21.0.0 for Linux/X11, as shipping
with Ubuntu 22.04-LTS and later, or as a 3rd party ppa for Ubuntu 20.04-LTS,
as well as part of Debian GNU/Linux 12/unstable/testing. See the following link
for more information about Monado:
This has been tested on Ubuntu 20.04.5-LTS and 22.04.1-LTS with AMD and NVidia
gpu’s so far.
The proprietary Valve SteamVR runtime version 1.24.7 on Linux (Ubuntu 20.04.5-LTS)
and on Microsoft Windows 10 21H2.
The proprietary OculusVR runtime version 1.81.0 on Microsoft Windows 10 21H2.
Testing so far only occured with a OculusVR Oculus Rift CV-1 HMD with 2 Oculus
tracking cameras and 2 Oculus touch controllers, as well as a Oculus Remote control,
and a Microsoft XBox 360 gamepad controller.
Tests with other HMD’s from other vendors, or other OpenXR runtimes are tbd.
A limitation of the current OpenXR spec is that it doesn’t provide any
means for reliable, robust, trustworthy, accurate and precise visual
stimulus onset timestamping. We are investigating a future solution for
reliable and trustworthy timestamping for the open-source MonadoXR
runtime on Linux and hope to find a solution there in the foreseeable
future, stay tuned…
Testing also showed that all tested proprietary OpenXR runtimes, ie.
OculusVR and SteamVR, violate the OpenXR specs stimulus timing
requirements, as of February 2023. The only exception was the open-source
Monado(XR) runtime for Linux.
The same limitations are true for the old OculusVR runtimes on
MS-Windows. To get at least approximately correct timestamps, the driver
therefore will switch to a multi-threaded mode of operation if it detects
the need for timestamping or timing, or if that need is specified with
new ‘basicRequirements’ keywords to PsychVRHMD(‘AutoSetupHMD’) or to
PsychVRHMD(‘SetupRenderingParameters’), e.g., ‘TimestampingSupport’ for
timestamps, or ‘TimingSupport’ for onset timing. The switch to
multi-threading will cost some performance and possibly introduce extra
latency. In the case of SteamVR on MS-Windows it may even cause bugs and
hangs in some cases. Therefore additional keywords like
‘NoTimestampingSupport’, ‘NoTimingSupport’, or ‘ForbidMultiThreading’
allow your script to specify also if it doesn’t need precise timing or
timestamping or does not want multi-threading to be used.
Testing showed that MonadoXR was the most reliable and bug-free runtime,
whereas both OculusVR and SteamVR exposed various other serious bugs. Our
driver tries to work around such known bugs on those runtimes, sometimes
by ues of multi-threading, which costs performance. Therefore various new
keywords beyond the ones mentioned above exist to control these
quality/reliability vs. performance tradeoffs for your specific script
‘help PsychVRHMD’ lists those new keywords in the section for
‘AutoSetupHMD’, and the ‘help PsychOpenXR’ sometimes gives more detailed
If you need precise timing at all costs, potentially to the detriment of
most other functionality, performance or quality, there is also the
keyword ‘TimingPrecisionIsCritical’ to specify in addition to the other
timing/timestamping keywords. This keyword will force the selection of
the driver with the highest possible timing precision/reliability. At the
moment this means to probe for the PsychOculusVR driver for the old
Oculus v0.5 runtime for Linux/X11 and MS-Windows, only usable for the
original Oculus Rift developer kits DK-1 and DK-2. Then a fallback to a
potentially timing enhanced MonadoXR implementation, once such a thing
exists. Then a fallback to PsychOpenHMDVR for OpenHMD on Linux/X11 with
separate X-Screen for a OpenHMD supported HMD, then back to standard
OpenXR as a last resort measure.
Oculus: If you bought and set up a Oculus HMD, then the OculusVR-1
OpenXR runtime will have been installed and setup already and should
SteamVR: The same should be true for SteamVR supported HMD’s if you
followed the setup instructions, e.g., for the Valve Index HMD’s or
early HTC Vive HMD’s. If you chose a (W)indows(M)ixed(R)eality HMD, you
need to install SteamVR and set it up as OpenXR runtime for those HMDs,
as the Microsoft Windows built-in WMR OpenXR runtime does not support
OpenGL interop, so SteamVR is needed as a middle-man and translator.
Other OpenXR runtimes exist from HTC for their latest devices, or from
MonadoXR is provided via ‘sudo apt install monado’ on Ubuntu 22.04-LTS
and later, Debian GNU/Linux 11 and later, and probably other distros.
Also as a 3rd party ppa for Ubuntu 20.04-LTS, but we now recommend
using at least Ubuntu 22.04-LTS. Note that for some HMDs, e.g., the
Oculus Rift CV-1, you also need OpenHMD, and potentially build Monado
from source against OpenHMD. See the “supported hardware” section on
Monado’s website, for natively supported devices, and for devices that
additionally need OpenHMD, and potentially building Monado from source
code against an installed libOpenHMD.
SteamVR can be installed to use SteamVR supported HMD’s, e.g., HTC
Vive, Valve Index, Oculus Rift. Follow setup instructions after
installing SteamVR. Use of Oculus devices needs MonadoXR as a SteamVR
driver plugin on Linux (see setup instructions under
https://monado.freedesktop.org/steamvr.html). When displaying in
‘Monoscopic’ or ‘Stereoscopic’ 2D mode, it has been shown beneficial at
least on Linux with Oculus Rift, to disable asynchronous reprojection,
as this reduces jitter and tracking noise.
No OpenXR (or other Psychtoolbox supported) virtual reality runtime
exists on Apples iToys operating system.