view_camera_stereo.yaml

# Copyright 2026 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# Head camera stereo panel in the VR device: one image per eye, locked
# to the operator's head. Needs both the camera_head_left and
# camera_head_right inputs. For the default room-locked view, point
# VIEW_CONFIGURATION_FILE at view_camera.yaml instead.
#
# Read once when the node starts, so restart the dataflow to apply.
#
# The camera and stereo values come from the camera's own calibration.
# To regenerate them:
#
#   python example/zed_view_parameters.py
#
# Add --measure, with the camera free, to check the eye alignment
# against the camera instead of trusting the calibration:
#
#   python example/zed_view_parameters.py --measure

# How many images to draw: stereo needs both camera inputs, mono uses
# camera_head_right only. Where they hang is panel: lock.
view: stereo

session:
  # immersive-ar keeps the room visible around the image, immersive-vr
  # blacks it out.
  mode: immersive-vr

camera:
  # How much of the view the image covers, in degrees. Larger values
  # fill more of the display but magnify, which magnifies how far apart
  # the two eyes' images sit and narrows the depth range that fuses.
  horizontal_fov: 79.4
  vertical_fov: 50.1

panel:
  # What the panel hangs off: head carries it along with the operator's
  # gaze, which is what a stereo pair wants, since each eye has to keep
  # looking at its own image. Room would leave it behind on a head turn.
  lock: head

  # Where the panel sits, in meters. Sets the depth the eyes converge
  # at, not how large the image looks. A Quest 3 focuses at about 1.3 m
  # whatever is drawn, so matching it is easiest on the eyes.
  distance: 1.3

stereo:
  # Right eye offsets in source pixels, correcting for the two lenses
  # not being aligned. Both scale with the image, so they hold at any
  # field of view above.

  # Up and down.
  vertical_align: 10.0

  # Sideways. More negative pulls the scene closer to the eyes, more
  # positive pushes it away.
  convergence: -1.7

pose:
  # Neutral hand position relative to the arm_origin site (chest
  # level), in meters.
  frame_offset: [-0.1, 0.0, 0.23]

  # Eyes to the neck's rotation axis, in the headset's own frame
  # (-z forward, +y up), in meters. The hand positions are made relative
  # to this pivot rather than to the headset, so a head turn does not
  # swing the target along the arc the headset travels. Measure it per
  # operator in a session started with --calibration, by holding the Y
  # button down while turning the head; the run writes what it measured
  # to --neck-pivot-file, which wins over this one. [0, 0, 0] subtracts
  # the headset itself.
  neck_pivot_offset: [0.0, -0.075, 0.080]