LPVISION HeadPose

Node ID: lpvisionHeadPose · Role: Source · Realtime config: no

Description

LPVISION head pose tracking using a Stereolabs ZED camera over UVC. Runs the HeadPoseTracker internally and outputs 6-DOF optical pose. No ZED SDK or CUDA required. For the camera IMU, add a separate ZED IMU node.

Inputs / Outputs

Inputs: (none)
Outputs: Optical

Config aliases

LpvisionSource, lpvisionHeadPose, lpvisionZedSdk

Properties

The following fields are exposed in the node’s Properties panel in the UI. Types map to UI widgets (e.g. string → text input, number → numeric, boolean → toggle, select → dropdown, json → JSON editor).

Key	Label	Type	Default	Options	Description / Notes
`_zed_heading`	ZED Camera	`heading`	—	—	Section header — groups the ZED camera settings below.
`resolution`	Resolution	`select`	`HD720`	`VGA`, `HD720`, `HD1080`, `HD2K`	ZED capture resolution. Higher resolutions cost more GPU and yield fewer FPS.
`fps`	FPS	`number`	`60`	—	Camera frame rate
`grayscale`	Grayscale	`toggle`	`false`	—	Run the tracker on grayscale frames. Faster but reduces robustness in low-texture scenes.
`cameraInterface`	Camera Interface	`number`	`0`	—	OS video capture index of the ZED UVC device
`baseline`	Baseline	`number`	`120.0`	—	Stereo baseline in millimetres
`directShowBrightness`	DirectShow Brightness	`number`	—	—	hidden in UI
`directShowContrast`	DirectShow Contrast	`number`	—	—	hidden in UI
`directShowSaturation`	DirectShow Saturation	`number`	—	—	hidden in UI
`directShowGain`	DirectShow Gain	`number`	—	—	hidden in UI
`directShowExposure`	DirectShow Exposure	`number`	—	—	hidden in UI
`_tracker_heading`	Head Pose Tracker	`heading`	—	—	Section header — groups the head-pose tracker settings below.
`showPoses`	Show Poses	`toggle`	`true`	—	Overlay the estimated poses on a debug window for visual inspection.
`filterPose`	Filter Pose	`toggle`	`true`	—	Apply a smoothing filter to the output pose.
`filterLandmarks`	Filter Landmarks	`toggle`	`true`	—	Apply smoothing to the detected 2D landmarks before pose estimation.
`_pose_heading`	Head Tracking Output	`heading`	—	—	Section header — groups the optical pose output settings below.
`senderId`	Sender ID	`string`	`headTracking`	—	Stream identifier for the optical pose output
`axisPresetOptical`	Axis Preset (Optical)	`select`	`steamvr`	`identity`, `steamvr`	Coordinate-system preset applied to the optical pose output. ‘steamvr’ matches SteamVR’s convention; ‘identity’ leaves the raw frame.
`positionOffsetX`	Position Offset X	`number`	`0.0`	—	metres
`positionOffsetY`	Position Offset Y	`number`	`0.0`	—	metres
`positionOffsetZ`	Position Offset Z	`number`	`0.0`	—	metres
`_adv_heading`	Advanced	`heading`	—	—	Section header — groups advanced settings below.
`logLevel`	Log Level	`select`	`error`	`debug`, `info`, `warn`, `error`	—
`autoCalibration`	Auto Calibration	`toggle`	`true`	—	—
`cameraSerial`	Camera Serial	`string`	`""`	—	Optional ZED serial number. Empty = auto-detect from local Stereolabs SDK cache.
`configFile`	Config File	`filepath`	`""`	—	Path to an LPVISION JSON config file. When set, all settings above are ignored.

Example node definition

A full node definition in config.json looks like the block below. Paste it under the sources key of your config, keyed by the node’s instance name (any identifier; it doesn’t have to match the node ID).

{
  "sources": {
    "lpvisionHeadPose": {
      "outEndpoint": "inproc://lpvisionHeadPose_data",
      "settings": {
        "autoCalibration": true,
        "axisPresetOptical": "steamvr",
        "baseline": 120.0,
        "cameraInterface": 0,
        "cameraSerial": "",
        "configFile": "",
        "directShowBrightness": null,
        "directShowContrast": null,
        "directShowExposure": null,
        "directShowGain": null,
        "directShowSaturation": null,
        "filterLandmarks": true,
        "filterPose": true,
        "fps": 60,
        "grayscale": false,
        "logLevel": "error",
        "positionOffsetX": 0.0,
        "positionOffsetY": 0.0,
        "positionOffsetZ": 0.0,
        "resolution": "HD720",
        "senderId": "headTracking",
        "showPoses": true
      }
    }
  }
}

Field reference

Field	Purpose
`outEndpoint`	ZMQ / inproc endpoint this source binds to publish its output. The runtime auto-generates one if omitted.
`settings`	All user-configurable fields — see the Properties table above.

Connections can also be declared at the top-level connections array when settings.explicitConnections is true, as an alternative to filling inputEndpoints on each node.

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