Varjo HMD

Node ID: varjoHmd · Role: Filter · Realtime config: no

Description

Bidirectional ZMQ bridge to the LPVR Varjo Base plugin. Receives IMU samples from the Varjo HMD (with hardware calibration applied in the plugin) and forwards FusedPose back to Varjo Base for rendering. Includes gyro autocalibration.

Inputs / Outputs

Inputs: FusedPose
Outputs: Imu

Config aliases

varjoHmd, VarjoHmd, varjo

Required feature

varjo_hmd

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	Description / Notes
`imuEndpoint`	Plugin IMU Endpoint	`string`	`tcp://127.0.0.1:9930`	—
`fusedPoseEndpoint`	FusedPose Publish Endpoint	`string`	`tcp://*:9931`	—
`senderId`	Sender ID	`string`	`varjo_hmd`	—
`enableGyroAutocalibration`	Enable Gyro Autocalibration	`boolean`	`true`	—
`nSamplesForSteady`	Autocal: Samples for Steady	`number`	`256`	—
`nSamplesForAutocalibration`	Autocal: Samples for Calibration	`number`	`1500`	—
`steadyThresholdAverage`	Autocal: Steady Threshold (deg/s)	`number`	`2.0`	—
`steadyThresholdRms`	Autocal: Steady RMS Threshold	`number`	`2.0`	—
`noiseRmsLimit`	Autocal: Noise RMS Limit	`number`	`0.2`	—

Example node definition

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

{
  "sinks": {
    "varjoHmd": {
      "dataEndpoint": "inproc://varjoHmd_data",
      "inputEndpoints": [
        "inproc://fusedPose_data"
      ],
      "inputDataFilter": [
        "FusedPose"
      ],
      "settings": {
        "enableGyroAutocalibration": true,
        "fusedPoseEndpoint": "tcp://*:9931",
        "imuEndpoint": "tcp://127.0.0.1:9930",
        "nSamplesForAutocalibration": 1500,
        "nSamplesForSteady": 256,
        "noiseRmsLimit": 0.2,
        "senderId": "varjo_hmd",
        "steadyThresholdAverage": 2.0,
        "steadyThresholdRms": 2.0
      }
    }
  }
}

Field reference

Field	Purpose
`dataEndpoint`	Endpoint this node binds to publish its output. Omit to let the runtime generate one.
`inputEndpoints`	List of upstream endpoints this node connects to (`outEndpoint` / `dataEndpoint` values from upstream nodes).
`inputDataFilter`	Optional whitelist of data types. Messages whose type isn’t in the list are dropped at the subscriber.
`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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