SteamVR HMD

Node ID: steamvrHmd · Role: Filter · Realtime config: yes

Description

Bidirectional ZMQ bridge to the LPVR SteamVR HMD driver for lighthouse headsets (HTC Vive Pro, Vive Pro 2, Valve Index) and their controllers. Receives the headset and controller IMUs from the SteamVR lighthouse driver (factory calibration applied, head frame) and forwards FusedPose back as the SteamVR tracking override. Includes gyro autocalibration.

Inputs / Outputs

Inputs:

FusedPose - Head: Head pose forwarded to SteamVR as the HMD tracking override.
LeftController (FusedPose) - Left Controller: Pose forwarded as the tracking override of the controller assigned to the left hand.
RightController (FusedPose) - Right Controller: Pose forwarded as the tracking override of the controller assigned to the right hand.

Outputs:

Imu: Headset and controller IMUs from the SteamVR driver, with gyro auto-calibration applied.

Config aliases

steamvrHmd, SteamvrHmd, vivePro

Properties

Each row shows the setting’s label in the node’s Properties panel and, in code, its key in the node’s settings object in the config file. A setting omitted from the config file uses the default shown here.

Property	Type	Default	Description
Driver IMU Endpoint `imuEndpoint`	string	`tcp://127.0.0.1:9926`	ZMQ SUB endpoint of the LPVR SteamVR HMD driver’s IMU publisher (e.g. ‘tcp://127.0.0.1:9926’).
FusedPose Publish Endpoint `fusedPoseEndpoint`	string	`tcp://*:9925`	ZMQ PUB endpoint the driver subscribes to for head and controller poses (e.g. ‘tcp://*:9925’).
Head IMU Sender ID `senderId`	string	`headsetImu`	Sender ID stamped on the headset IMU output.
Left Controller Serial `leftControllerSerial`	string	`""`	Lighthouse serial (LHR-…) of the controller used for the left hand. Its IMU is output as ‘leftControllerImu’ and the Left Controller pose input overrides it in SteamVR.
Right Controller Serial `rightControllerSerial`	string	`""`	Lighthouse serial (LHR-…) of the controller used for the right hand. Its IMU is output as ‘rightControllerImu’ and the Right Controller pose input overrides it in SteamVR.
Enable Gyro Autocalibration `enableGyroAutocalibration`	boolean	`true`	Estimate and subtract the gyro zero-rate bias of every device while it rests.

Gyro Autocalibration

Property	Type	Default
Steady motion threshold (deg/s) `steadyThresholdAverage`	number	`0.5`
Steady RMS gate `steadyThresholdRms`	number	`1.0`
Noise RMS limit `noiseRmsLimit`	number	`0.02`
Steady-detection samples `nSamplesForSteady`	number	`256`
Calibration samples `nSamplesForAutocalibration`	number	`1500`

Example node definition

A minimal entry in config.json looks like the block below. Paste it under the sinks key, keyed by an instance name of your choice. All settings are optional: anything not listed under settings uses the default from the Properties table above. See The configuration file for how the sections and endpoint wiring work.

{
  "sinks": {
    "steamvrHmd": {
      "dataEndpoint": "inproc://steamvrHmd_data",
      "inputEndpoints": [
        "inproc://fusedPose_data",
        "inproc://leftController_data",
        "inproc://rightController_data"
      ],
      "inputDataFilter": [
        "FusedPose",
        "FusedPose",
        "FusedPose"
      ],
      "settings": {}
    }
  }
}

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