Struct MarkerPose 

#[repr(C)]
pub struct MarkerPose {
    pub timestamp: u64,
    pub marker_id: u16,
    pub x: f64,
    pub y: f64,
    pub z: f64,
    pub rotation: [f64; 9],
    pub position_rmse: f64,
    pub rotation_rmse: f64,
    pub sensors: u8,
}

Position and orientation of one tracked marker in world coordinates.

One MarkerPose is produced per localized marker per tracking update. A crate::PoseStream delivers these as they arrive from the device.

Units

All positions (x, y, z and position_rmse) are in meters; rotation error (rotation_rmse) is in radians.

The layout is #[repr(C)] so the C API can use a struct with the same fields directly. This does not affect the MessagePack wire format, which is derived from the field definitions, not the memory layout.

Fields

timestamp: u64

Microseconds since the tracking device started. All markers from the same tracking update share one timestamp. Subtract two poses’ timestamps to get the elapsed time between them; the absolute value is not a wall-clock time and is only meaningful relative to other poses from the same device session.

marker_id: u16

Identifier of the marker this pose belongs to.

x: f64

World-space position in meters (of the first model emitter).

y: f64

z: f64

rotation: [f64; 9]

Rotation matrix (row-major 3x3), model frame to world frame.

position_rmse: f64

Estimated RMS error of the position, in meters (the same units as x/y/z).

rotation_rmse: f64

Estimated RMS error of the rotation, expressed as the magnitude of an axis-angle perturbation 3-vector (radians).

sensors: u8

Number of sensors that contributed to this measurement.

Trait Implementations

impl Clone for MarkerPose

fn clone(&self) -> MarkerPose

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for MarkerPose

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for MarkerPose

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for MarkerPose

fn eq(&self, other: &MarkerPose) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for MarkerPose

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for MarkerPose