TsMocap
teslasuit_sdk.subsystems.ts_mocap.TsMocap
Interface for streaming motion capture data from a TESLASUIT device.
Provides access to raw IMU sensor data, solved skeleton bone poses,
and biomechanical joint angles. Streaming must be started before data
is available via the get_*_on_ready blocking methods.
Methods#
__init__#
def __init__(lib, device_handle):Initialize the mocap interface for a specific device.
Parameters
lib
Loaded TESLASUIT C API library object (CDLL or WinDLL).
device_handle
Handle to the open TESLASUIT device.
start_streaming#
def start_streaming() -> None:Start mocap data streaming for the device.
Subscribes to the raw sensor and skeleton data update callbacks, then starts the C API streaming pipeline. Has no effect if streaming is already active.
stop_streaming#
def stop_streaming() -> None:Stop mocap data streaming for the device.
Halts the C API streaming pipeline. Has no effect if streaming is not currently active.
calibrate_skeleton#
def calibrate_skeleton() -> None:Trigger a skeleton model calibration.
Initiates the calibration procedure to improve the accuracy of solved bone poses.
get_raw_data_on_ready#
def get_raw_data_on_ready() -> Dict[TsBone2dIndex, TsMocapSensor]:Block until a new raw sensor frame is available and return it.
Returns: dict
Dictionary mapping TsBone2dIndex to
get_skeleton_data_on_ready#
def get_skeleton_data_on_ready() -> Dict[TsBone2dIndex, TsMocapBone]:Block until a new solved skeleton frame is available and return it.
Returns: dict
Dictionary mapping TsBone2dIndex to
get_biomechanical_angles_on_ready#
def get_biomechanical_angles_on_ready() -> Dict[TsBiomechanicalIndex, c_float]:Block until new biomechanical angle data is available and return it.
Returns: dict
Dictionary mapping TsBiomechanicalIndex to ctypes.c_float angle values.
get_sensor_data#
def get_sensor_data(bone_index: TsBone2dIndex, data_ptr: int) -> TsMocapSensor:Retrieve raw IMU sensor data for a single bone from a data frame pointer.
Parameters
bone_index: TsBone2dIndex
Index of the bone to retrieve data for.
data_ptr: int
Opaque pointer to the raw sensor data frame.
Returns: TsMocapSensor
Raw sensor data for the specified bone.
get_skeleton_data#
def get_skeleton_data(bone_index: TsBone2dIndex, data_ptr: int) -> TsMocapBone:Retrieve solved skeleton bone data for a single bone from a data frame pointer.
Parameters
bone_index: TsBone2dIndex
Index of the bone to retrieve data for.
data_ptr: int
Opaque pointer to the skeleton data frame.
Returns: TsMocapBone
Solved position and rotation of the specified bone.
get_biomechanical_angle#
def get_biomechanical_angle(biomech_index: TsBiomechanicalIndex, data_ptr: int) -> c_float:Retrieve a single biomechanical joint angle from a data frame pointer.
Parameters
biomech_index: TsBiomechanicalIndex
Index of the biomechanical angle to retrieve.
data_ptr: int
Opaque pointer to the skeleton data frame.
Returns: ctypes.c_float
Joint angle value in degrees.
Data Structures#
ts_mocap.TsVec2f#
2D float vector representing a point in 2D space.
Fields
x float
X coordinate.
y float
Y coordinate.
ts_mocap.TsVec3f#
3D float vector representing a point in 3D space.
Fields
x float
X coordinate.
y float
Y coordinate.
z float
Z coordinate.
ts_mocap.TsQuat#
Quaternion representing an orientation in 3D space.
Fields
w float
Scalar (real) component.
x float
X component of the vector part.
y float
Y component of the vector part.
z float
Z component of the vector part.
ts_mocap.TsMocapBone#
C structure holding the solved position and rotation for a single skeleton bone.
Fields
position TsVec3f
World-space position of the bone.
rotation TsQuat
World-space orientation of the bone as a quaternion.
ts_mocap.TsMocapSensor#
C structure holding raw IMU sensor data for a single bone sensor.
Fields
q6 TsQuat
6-axis quaternion (accelerometer + gyroscope, no magnetometer).
q9 TsQuat
9-axis quaternion (accelerometer + gyroscope + magnetometer).
accel TsVec3f
Accelerometer reading in m/s².
gyro TsVec3f
Gyroscope reading in rad/s.
magn TsVec3f
Magnetometer reading in µT.
linear_accel TsVec3f
Linear acceleration (gravity-compensated) in m/s².
timestamp int
Sensor timestamp in microseconds.