OpenZen is high performance sensor data streaming and processing.

Contents

• Setup
  • Dowloading pre-compiled OpenZen
  • Building OpenZen from Source
  • OpenZen Build Options
• Getting Started with OpenZen
  • Overview
  • Creating an OpenZen Client
  • Receiving Events from OpenZen
  • Listing Available Sensors
  • Connecting to a Sensor
  • Reading and Modifying Sensor Properties
  • Accessing Sensor Components
  • Reading Sensor Values
  • Closing the Sensor Connection
• Examples for OpenZen Usage
  • Basic examples
  • Connecting multiple Sensors
  • Synchronizing multiple Sensors
  • Manual Gyroscope Calibration
• Supported Sensors
  • LP-Research LPMS-U2 / U3 Series
  • LP-Research LPMS-B2
  • LP-Research LPMS-IG1 and LPMS-IG1P
  • LP-Research LPMS-NAV3
  • LP-Research LPMS-ME
  • LP-Research LPMS-BE
• Sensor Configuration and Data Output
  • Overview
  • Data Output Settings
  • Inertial Data: ZenImuData
  • Global Position: ZenGnssData
• IO Systems
  • SiLabs USB Express
  • Windows COM Port
  • Bluetooth
  • Bluetooth Low-Energy
  • Linux Device
  • Network Streaming with ZeroMQ
• C API
  • Overview
  • Initialisation and Cleanup
  • Events
  • Access to Sensors and Components
• C++ API
  • Overview
  • Initialisation and Cleanup
  • Events
• Python API
  • Overview
  • Using Python with OpenZen Releases
  • Building OpenZen with Python support
  • Initialize OpenZen in Python
  • Receive Sensor Data in Python
  • Troubleshooting
• C# API
  • Overview
  • Initialize OpenZen in C#
  • Receive Sensor data in C#
• Unity Plugin
  • Overview
• Robot Operating System (ROS)
  • Overview
  • Installing via the Package Manager
  • Compilation
  • Running the Driver
  • Limitations of OpenZen ROS driver
  • ROS API

Overview

OpenZen Unity plugin connected to a LPMS-CU2 sensor and live visualization of sensor orientation.

OpenZen is a framework that allows access to Sensor Hardware from multiple vendors without requiring understanding of the target hardware or communication layer by providing a homogeneous API to application developers and a communication protocol to hardware developers.

Currently, OpenZen has full support for communication over Bluetooth and USB (using the Silabs driver), as well as experimental support for Bluetooth Low-Energy, CAN (using the PCAN Basic driver) and USB (using the Ftdi driver). At the moment OpenZen has only been used with IMU and GPS sensors, but is easily extensible to any type of sensor or range of properties.

OpenZen can be used on Windows and Linux systems and provides a C, C++ and C# API.