enpose Namespace Reference

Classes
struct	DeviceInfo
	One device discovered on the local network. More...
class	Error
	Exception thrown by the wrapper when a C call fails. More...
class	PoseStream
	RAII handle to a live pose stream from one device. More...

Typedefs
using	MarkerPose = ::EnposeMarkerPose
	Pose of one tracked marker in world coordinates.

Functions
std::vector< DeviceInfo >	discover ()
	Discover Enpose devices on the local network.

Typedef Documentation

MarkerPose

using enpose::MarkerPose = typedef ::EnposeMarkerPose

Pose of one tracked marker in world coordinates.

Alias of the C POD struct, so all fields are available directly: timestamp, marker_id, x/y/z, rotation[9], position_rmse, rotation_rmse, sensors, observed_emitters. Units: x/y/z and position_rmse are in meters; rotation_rmse is in radians.

observed_emitters counts the marker LEDs whose measurements contributed to the pose (four on the standard marker); a lower count means some were occluded, leaving the pose fitted from a reduced set of points.

The world frame is right-handed, and where its origin and axes lie is decided by the device's extrinsics calibration. By default it is the reference sensor's optical frame — origin at that sensor, +X to its right, +Y down and +Z into the scene, so a marker in front of the device has a positive z. Calibrating against a measured origin puts the frame there instead, and measuring a ground plane makes that plane z = 0 with +Z pointing up out of it. Treat the axes as a property of the calibration rather than a fixed convention: recalibrating a device can move the frame.

Function Documentation

discover()

std::vector< DeviceInfo > enpose::discover ( )

inline

Discover Enpose devices on the local network.

Returns one entry per device (empty if none are found). Throws Error on an I/O failure.