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Orientation data of inertial measurement units (IMUs) is read as quaternions by the producer thread and saved to a buffer. Time values are saved to another buffer. The consumer thread reads data from both buffers and initiates new threads that calculate IK based on the data. IK threads output joint angle values for the model. Within an IK thread, the IK output can be sent to a visualizer window. The visualization is based on the <t>Simbody</t> ( i.e ., the physics engine used by OpenSim) <t>API</t> and not a part of our software library and hence not described here in more detail. When the program finishes, the IK output frames can be sorted in a time-ascending order and saved to file.
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Orientation data of inertial measurement units (IMUs) is read as quaternions by the producer thread and saved to a buffer. Time values are saved to another buffer. The consumer thread reads data from both buffers and initiates new threads that calculate IK based on the data. IK threads output joint angle values for the model. Within an IK thread, the IK output can be sent to a visualizer window. The visualization is based on the Simbody ( i.e ., the physics engine used by OpenSim) API and not a part of our software library and hence not described here in more detail. When the program finishes, the IK output frames can be sorted in a time-ascending order and saved to file.

Journal: PeerJ

Article Title: Open-source software library for real-time inertial measurement unit data-based inverse kinematics using OpenSim

doi: 10.7717/peerj.15097

Figure Lengend Snippet: Orientation data of inertial measurement units (IMUs) is read as quaternions by the producer thread and saved to a buffer. Time values are saved to another buffer. The consumer thread reads data from both buffers and initiates new threads that calculate IK based on the data. IK threads output joint angle values for the model. Within an IK thread, the IK output can be sent to a visualizer window. The visualization is based on the Simbody ( i.e ., the physics engine used by OpenSim) API and not a part of our software library and hence not described here in more detail. When the program finishes, the IK output frames can be sorted in a time-ascending order and saved to file.

Article Snippet: Our software library includes an option to visualize motion like in OpenSim GUI by invoking methods from the Simbody API (namely, from the SimTK::Visualizer class), which OpenSim API is built upon.

Techniques: Software