{"id":50903,"date":"2024-05-24T00:00:00","date_gmt":"2024-05-24T07:00:00","guid":{"rendered":"https:\/\/griddb-linux-hte8hndjf8cka8ht.westus-01.azurewebsites.net\/%e6%9c%aa%e5%88%86%e9%a1%9e\/3d-motion-tracker\/"},"modified":"2026-03-30T11:57:18","modified_gmt":"2026-03-30T18:57:18","slug":"3d-motion-tracker","status":"publish","type":"post","link":"https:\/\/www.griddb.net\/ja\/%e6%9c%aa%e5%88%86%e9%a1%9e\/3d-motion-tracker\/","title":{"rendered":"3D\u30e2\u30fc\u30b7\u30e7\u30f3\u30c8\u30e9\u30c3\u30ab\u30fc\u306e\u69cb\u7bc9\uff1aIMU\u3001Arduino\u3001Babylon.js\u3001GridDB\u306e\u7d71\u5408"},"content":{"rendered":"<h2>\u306f\u3058\u3081\u306b<\/h2>\n<p>\u3053\u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3067\u306f\u3001\u7269\u4f53\u306e\u52d5\u304d\u3092\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u8996\u899a\u5316\u3067\u304d\u308b3D\u30e2\u30fc\u30b7\u30e7\u30f3\u30fb\u30c8\u30e9\u30c3\u30ab\u30fc\u3092\u4f5c\u308a\u307e\u3059\u3002\u30e2\u30fc\u30b7\u30e7\u30f3\u30fb\u30c7\u30fc\u30bf\u306f\u3001IMU\u30bb\u30f3\u30b5\u30fc\u3068Arduino Uno\u304b\u3089\u53ce\u96c6\u3055\u308c\u3001Node.js\u3067\u51e6\u7406\u3055\u308c\u3001Babylon.js\u3067\u53ef\u8996\u5316\u3055\u308c\u307e\u3059\u3002GridDB\u306f\u3001\u5c06\u6765\u306e\u5206\u6790\u306e\u305f\u3081\u306e\u30c7\u30fc\u30bf\u4fdd\u5b58\u306b\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002<\/p>\n<h2>\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9<\/h2>\n<p>\u3053\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306f\u3001\u4ee5\u4e0b\u306eGitHub <a href=\"https:\/\/github.com\/junwatu\/3d-motion-tracking\">\u30ea\u30dd\u30b8\u30c8\u30ea<\/a>\u306b\u3042\u308a\u307e\u3059\u3002\u3053\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306b\u306f<a href=\"#hardware-requirements\">\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2<\/a>\u3068<a href=\"#software-requirements\">\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2<\/a>\u306e\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u304c\u5fc5\u8981\u3067\u3059\u3002<\/p>\n<p>\u30b5\u30fc\u30d0\u30fc\u3092\u5b9f\u884c\u3059\u308b\u306b\u306f\u3001\u307e\u305a\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u4f9d\u5b58\u95a2\u4fc2\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff1a<\/p>\n<div class=\"clipboard\">\n<pre><code class=\"language-sh\">cd app\/server\nnpm install<\/code><\/pre>\n<\/div>\n<p>\u6b21\u306b\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u3063\u3066\u30b5\u30fc\u30d0\u30fc\u3092\u5b9f\u884c\u3057\u307e\u3059\uff1a<\/p>\n<div class=\"clipboard\">\n<pre><code>npm start<\/code><\/pre>\n<\/div>\n<p>\u3053\u306e\u30b7\u30b9\u30c6\u30e0\u306f\u3001\u8a18\u9332\u3055\u308c\u305f\u5b9f\u969b\u306e\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u4f7f\u3063\u3066\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f\u30c7\u30e2\u7248\u3067\u52d5\u4f5c\u3057\u307e\u3059\u3002URL<code>http:\/\/localhost:3000<\/code>\u306b\u30a2\u30af\u30bb\u30b9\u3059\u308b\u3068\u3001\u30c7\u30e2\u30c7\u30fc\u30bf\u304c1\u79d2\u3054\u3068\u306b\u30d6\u30e9\u30a6\u30b6\u306b\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n<p>Arduino\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u307e\u305f\u306f\u30b9\u30b1\u30c3\u30c1\u306f<code>app\/hardware<\/code>\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u3042\u308a\u307e\u3059\u3002\u307e\u305a\u3001Arduino Uno\u3092\u30d7\u30ed\u30b0\u30e9\u30e0\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<a href=\"#upload-sketch-to-arduino\">\u3053\u3061\u3089<\/a>\u3092\u8aad\u3093\u3067\u304f\u3060\u3055\u3044\u3002\u6b21\u306b\u3001\u5fc5\u8981\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30dd\u30fc\u30c8\u3059\u308b\u305f\u3081\u306b\u3001<a href=\"#setting-up-the-development-environment\">\u958b\u767a\u74b0\u5883\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/a>\u3092\u8aad\u3093\u3067\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\u6ce8\u610f: Arduino\u3092\u65b0\u3057\u3044USB\u30dd\u30fc\u30c8\u306b\u63a5\u7d9a\u3059\u308b\u305f\u3073\u306b\u3001Node.js\u30b5\u30fc\u30d0\u30fc\u3092\u518d\u8d77\u52d5\u3059\u308b\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002<\/p>\n<h2>\u30b7\u30b9\u30c6\u30e0\u30a2\u30fc\u30ad\u30c6\u30af\u30c1\u30e3<\/h2>\n<p><a href=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/3d-system-tracking.png\"><img fetchpriority=\"high\" decoding=\"async\" src=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/3d-system-tracking.png\" alt=\"\" width=\"1448\" height=\"844\" class=\"aligncenter size-full wp-image-30122\" srcset=\"\/wp-content\/uploads\/2024\/05\/3d-system-tracking.png 1448w, \/wp-content\/uploads\/2024\/05\/3d-system-tracking-300x175.png 300w, \/wp-content\/uploads\/2024\/05\/3d-system-tracking-1024x597.png 1024w, \/wp-content\/uploads\/2024\/05\/3d-system-tracking-768x448.png 768w, \/wp-content\/uploads\/2024\/05\/3d-system-tracking-600x350.png 600w\" sizes=\"(max-width: 1448px) 100vw, 1448px\" \/><\/a><\/p>\n<p>\u3053\u306e\u30a2\u30fc\u30ad\u30c6\u30af\u30c1\u30e3\u306f\u3001\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30a4\u30b9\u3068\u30c7\u30fc\u30bf\u7ba1\u7406\u3092\u542b\u3080\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306e3D\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u30b7\u30b9\u30c6\u30e0\u3092\u793a\u3057\u3066\u3044\u307e\u3059\u3002MPU-9250\u30bb\u30f3\u30b5\u30fc\u3092\u642d\u8f09\u3057\u305fArduino Uno\u304c\u30e2\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092\u53ce\u96c6\u3057\u3001\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u63a5\u7d9a\u3092\u4ecb\u3057\u3066Node.js\u30b5\u30fc\u30d0\u30fc\u306b\u9001\u4fe1\u3057\u307e\u3059\u3002Node.js\u306f\u30c7\u30fc\u30bf\u3092\u51e6\u7406\u3057\u3001\u30d5\u30a3\u30eb\u30bf\u30ea\u30f3\u30b0\u3001\u89e3\u6790\u3001\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u901a\u4fe1\u306a\u3069\u306e\u30bf\u30b9\u30af\u3092\u5b9f\u884c\u3059\u308b\u3002\u305d\u3057\u3066\u3001\u30c7\u30fc\u30bf\u306e\u4fdd\u5b58\u3068\u5206\u6790\u306b\u4f7f\u7528\u3055\u308c\u308b\u30c7\u30fc\u30bf\u30d9\u30fc\u30b9\u3001GridDB\u3068\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30a4\u30b9\u3092\u6301\u3061\u307e\u3059\u3002<\/p>\n<p>\u3055\u3089\u306b\u3001Node.js\u306f\u3001MPU-9250\u30bb\u30f3\u30b5\u30fc\u304c\u6349\u3048\u305f\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306e\u65b9\u4f4d\u3092\u8868\u30593D\u30ad\u30e5\u30fc\u30d6\u3092\u8868\u793a\u3059\u308b\u30d5\u30ed\u30f3\u30c8\u30a8\u30f3\u30c9\u3068\u3057\u3066\u6a5f\u80fd\u3057\u307e\u3059\u3002\u3053\u306e\u30d5\u30ed\u30f3\u30c8\u30a8\u30f3\u30c9\u306f\u3001\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u53ef\u8996\u5316\u3059\u308b\u30a6\u30a7\u30d6\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3067\u3059\u3002<\/p>\n<h2>\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u8981\u4ef6<\/h2>\n<h3>IMU \u30bb\u30f3\u30b5\u30fc<\/h3>\n<p>IMU \u30bb\u30f3\u30b5\u30fc\uff08Inertial Measurement Unit \u30bb\u30f3\u30b5\u30fc\uff09\u306f\u3001\u7269\u4f53\u306e\u52d5\u304d\u3001\u5411\u304d\u3001\u304a\u3088\u3073\u74b0\u5883\u6761\u4ef6\u3092\u6e2c\u5b9a\u3059\u308b\u30c7\u30d0\u30a4\u30b9\u3067\u3059\u3002\u52a0\u901f\u5ea6\u8a08<strong>\u3001\u30b8\u30e3\u30a4\u30ed\u30b9\u30b3\u30fc\u30d7<\/strong>\u3001\u5730\u78c1\u6c17\u8a08**\u3067\u69cb\u6210\u3055\u308c\u307e\u3059\u3002\u52a0\u901f\u5ea6\u8a08\u306f\u7269\u4f53\u306e\u52a0\u901f\u5ea6\u3092\u6e2c\u5b9a\u3057\u3001\u30b8\u30e3\u30a4\u30ed\u30bb\u30f3\u30b5\u30fc\u306f\u89d2\u901f\u5ea6\u3092\u6e2c\u5b9a\u3057\u3001\u78c1\u529b\u8a08\u306f\u78c1\u5834\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002\u3053\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3067\u4f7f\u7528\u3059\u308b IMU \u30bb\u30f3\u30b5\u30fc\u306f\u3001<a href=\"https:\/\/invensense.tdk.com\/download-pdf\/mpu-9250-datasheet\/\">MPU-9250<\/a>\u3067\u3059\u3002MPU-9250 \u30bb\u30f3\u30b5\u30fc\u3092\u642d\u8f09\u3057\u305f GY-91 \u30e2\u30b8\u30e5\u30fc\u30eb\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n<p><a href=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/GY-91.png\"><img decoding=\"async\" src=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/GY-91.png\" alt=\"\" width=\"1539\" height=\"822\" class=\"aligncenter size-full wp-image-30129\" srcset=\"\/wp-content\/uploads\/2024\/05\/GY-91.png 1539w, \/wp-content\/uploads\/2024\/05\/GY-91-300x160.png 300w, \/wp-content\/uploads\/2024\/05\/GY-91-1024x547.png 1024w, \/wp-content\/uploads\/2024\/05\/GY-91-768x410.png 768w, \/wp-content\/uploads\/2024\/05\/GY-91-1536x820.png 1536w, \/wp-content\/uploads\/2024\/05\/GY-91-600x320.png 600w\" sizes=\"(max-width: 1539px) 100vw, 1539px\" \/><\/a><\/p>\n<h3>Arduino\u30dc\u30fc\u30c9<\/h3>\n<p>\u3053\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3067\u306f\u3001<a href=\"https:\/\/docs.arduino.cc\/hardware\/uno-rev3\/\">Arduino Uno<\/a>\u3092\u4f7f\u7528\u3057\u3066IMU\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002Arduino Uno\u306fATmega328P\u3092\u30d9\u30fc\u30b9\u306b\u3057\u305f\u30de\u30a4\u30b3\u30f3\u30dc\u30fc\u30c9\u3067\u3059\u300214\u306e\u30c7\u30b8\u30bf\u30eb\u5165\u51fa\u529b\u30d4\u30f3\u30016\u3064\u306e\u30a2\u30ca\u30ed\u30b0\u5165\u529b\u300116MHz\u306e\u6c34\u6676\u632f\u52d5\u5b50\u3001USB\u63a5\u7d9a\u3001\u96fb\u6e90\u30b8\u30e3\u30c3\u30af\u3001ICSP\u30d8\u30c3\u30c0\u30fc\u3001\u30ea\u30bb\u30c3\u30c8\u30dc\u30bf\u30f3\u3092\u5099\u3048\u3066\u3044\u308b\u3002<\/p>\n<p><a href=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/arduino-uno.jpg\"><img decoding=\"async\" src=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/arduino-uno.jpg\" alt=\"\" width=\"2048\" height=\"1603\" class=\"aligncenter size-full wp-image-30126\" srcset=\"\/wp-content\/uploads\/2024\/05\/arduino-uno.jpg 2048w, \/wp-content\/uploads\/2024\/05\/arduino-uno-300x235.jpg 300w, \/wp-content\/uploads\/2024\/05\/arduino-uno-1024x802.jpg 1024w, \/wp-content\/uploads\/2024\/05\/arduino-uno-768x601.jpg 768w, \/wp-content\/uploads\/2024\/05\/arduino-uno-1536x1202.jpg 1536w, \/wp-content\/uploads\/2024\/05\/arduino-uno-600x470.jpg 600w\" sizes=\"(max-width: 2048px) 100vw, 2048px\" \/><\/a><\/p>\n<h2>\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u8981\u4ef6<\/h2>\n<p>\u3053\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3067\u4f7f\u7528\u3059\u308b\u4e3b\u306a\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\uff1a<\/p>\n<h3>Arduino IDE<\/h3>\n<p>Arduino Uno\u306f<a href=\"https:\/\/docs.arduino.cc\/software\/ide-v2\/tutorials\/getting-started-ide-v2\/\">Arduino Software (IDE)<\/a>\u3092\u4f7f\u3063\u3066\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u3057\u307e\u3059\u3002<a href=\"https:\/\/docs.arduino.cc\/software\/ide-v2\/tutorials\/getting-started\/ide-v2-downloading-and-installing\/\">\u516c\u5f0f\u30ac\u30a4\u30c9<\/a>\u306b\u5f93\u3063\u3066Arduino IDE\u3092\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<h3>Node.js<\/h3>\n<p>Node.js\u306f\u3001Web\u30d6\u30e9\u30a6\u30b6\u306e\u5916\u3067JavaScript\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3059\u308b\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306e\u30af\u30ed\u30b9\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0JavaScript\u5b9f\u884c\u74b0\u5883\u3067\u3059\u3002\u30b9\u30b1\u30fc\u30e9\u30d6\u30eb\u306a\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30fb\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u69cb\u7bc9\u3059\u308b\u305f\u3081\u306b\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u304a\u4f7f\u3044\u306e\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306bNode.js\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u306b\u306f\u3001<a href=\"https:\/\/nodejs.org\/en\/download\/\">\u516c\u5f0f\u30ac\u30a4\u30c9<\/a>\u306b\u5f93\u3063\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>Node.js\u306f\u3001IMU\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u306e\u30e2\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092\u51e6\u7406\u3057\u3001\u30c7\u30fc\u30bf\u30d9\u30fc\u30b9\u306b\u683c\u7d0d\u3057\u3001\u30a6\u30a7\u30d6\u30d6\u30e9\u30a6\u30b6\u306b\u9001\u4fe1\u3059\u308b\u305f\u3081\u306e\u30b5\u30fc\u30d0\u30fc\u3068\u3057\u3066\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002<\/p>\n<h3>GridDB<\/h3>\n<p>GridDB\u306f\u3001IoT\u3084\u30d3\u30c3\u30b0\u30c7\u30fc\u30bf\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u5411\u3051\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306e\u30a4\u30f3\u30e1\u30e2\u30eaNoSQL\u30c7\u30fc\u30bf\u30d9\u30fc\u30b9\u3067\u3059\u3002\u6642\u7cfb\u5217\u30c7\u30fc\u30bf\u3084\u5730\u7406\u7a7a\u9593\u30c7\u30fc\u30bf\u306b\u6700\u9069\u5316\u3055\u308c\u3066\u3044\u307e\u3059\u3002<a href=\"https:\/\/griddb.org\/docs\/2_quickstart_guide\/2.md_ce_quickstart_guide\/md_quickstart_guide\/\">\u516c\u5f0f\u30ac\u30a4\u30c9<\/a>\u306b\u5f93\u3063\u3066GridDB\u3092\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>GridDB \u306f\u3001\u5c06\u6765\u306e\u5206\u6790\u306e\u305f\u3081\u306b IMU \u30bb\u30f3\u30b5\u30fc\u304b\u3089\u306e\u30e2\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092\u4fdd\u5b58\u3059\u308b\u305f\u3081\u306b\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002<\/p>\n<h2>\u521d\u671f\u8a2d\u5b9a\u306e\u624b\u9806<\/h2>\n<h3>\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/h3>\n<p>\u3053\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u90e8\u54c1\u8868(BOM)\u3067\u3059\uff1a<\/p>\n<table>\n<thead>\n<tr>\n<th>Item<\/th>\n<th>Quantity<\/th>\n<th>Description<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>Arduino Uno Board<\/td>\n<td>1<\/td>\n<td>Microcontroller platform for the project.<\/td>\n<\/tr>\n<tr>\n<td>GY-91 IMU Sensor Module<\/td>\n<td>1<\/td>\n<td>Provides inertial measurement data.<\/td>\n<\/tr>\n<tr>\n<td>USB Cable<\/td>\n<td>1<\/td>\n<td>Connects Arduino to a computer for power and programming.<\/td>\n<\/tr>\n<tr>\n<td>Jumper Wires<\/td>\n<td>4<\/td>\n<td>2 for power, 2 for I2C communication.<\/td>\n<\/tr>\n<tr>\n<td>Breadboard<\/td>\n<td>1<\/td>\n<td>Platform for prototyping and testing circuits.<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<blockquote><p>\n  \u304a\u4f7f\u3044\u306eIMU\u30bb\u30f3\u30b5\u30fc\u30e2\u30b8\u30e5\u30fc\u30eb\u306b\u3088\u3063\u3066\u306f\u3001\u30e2\u30b8\u30e5\u30fc\u30eb\u306b\u30d8\u30c3\u30c0\u30fc\u30d4\u30f3\u3092\u306f\u3093\u3060\u4ed8\u3051\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u306e\u4f5c\u696d\u306b\u306f\u3001\u306f\u3093\u3060\u3054\u3066\u3068\u925b\u307e\u305f\u306f\u925b\u30d5\u30ea\u30fc\u306e\u306f\u3093\u3060\u304c\u5fc5\u8981\u3067\u3059\u3002\n<\/p><\/blockquote>\n<p>IMU\u30bb\u30f3\u30b5\u30fc\u30e2\u30b8\u30e5\u30fc\u30eb\u3068Arduino Uno\u306f\u3001\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u304b\u3089\u306eUSB\u30b1\u30fc\u30d6\u30eb\u3067\u7d66\u96fb\u3055\u308c\u308b\u305f\u3081\u3001\u30b9\u30bf\u30f3\u30c9\u30a2\u30ed\u30f3\u3067\u96fb\u6e90\u3092\u4f9b\u7d66\u3059\u308b\u5fc5\u8981\u306f\u3042\u308a\u307e\u305b\u3093\u3002IMU \u30bb\u30f3\u30b5\u30fc\u30e2\u30b8\u30e5\u30fc\u30eb\u3068 Arduino Uno \u306e\u76f8\u4e92\u63a5\u7d9a\u306f\u30b8\u30e3\u30f3\u30d1\u30fc\u7dda\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n<h3>\u958b\u767a\u74b0\u5883\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/h3>\n<p>Arduino IDE\u3092\u958b\u304d\u3001<code>MPU9250.zip<\/code>\u30e9\u30a4\u30d6\u30e9\u30ea\u30d1\u30c3\u30b1\u30fc\u30b8\u3092IDE\u306b\u30a4\u30f3\u30dd\u30fc\u30c8\u3057\u307e\u3059\u3002\u30d1\u30c3\u30b1\u30fc\u30b8\u306f<a href=\"https:\/\/github.com\/junwatu\/3d-motion-tracking\/raw\/main\/app\/hardware\/MPU9250.zip\">\u3053\u3061\u3089<\/a>\u304b\u3089\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30dd\u30fc\u30c8\u3059\u308b\u306b\u306f\u3001<code>Sketch &gt; Include Library &gt; Add ZIP Library...<\/code>\u3068\u9032\u307f\u3001<code>MPU9250.zip<\/code>\u30d5\u30a1\u30a4\u30eb\u3092\u9078\u629e\u3057\u307e\u3059\u3002<\/p>\n<p><a href=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/add-library-mpu9250-zip.png\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/add-library-mpu9250-zip.png\" alt=\"\" width=\"1216\" height=\"745\" class=\"aligncenter size-full wp-image-30124\" srcset=\"\/wp-content\/uploads\/2024\/05\/add-library-mpu9250-zip.png 1216w, \/wp-content\/uploads\/2024\/05\/add-library-mpu9250-zip-300x184.png 300w, \/wp-content\/uploads\/2024\/05\/add-library-mpu9250-zip-1024x627.png 1024w, \/wp-content\/uploads\/2024\/05\/add-library-mpu9250-zip-768x471.png 768w, \/wp-content\/uploads\/2024\/05\/add-library-mpu9250-zip-600x368.png 600w\" sizes=\"(max-width: 1216px) 100vw, 1216px\" \/><\/a><\/p>\n<h2>IMU\u3068Arduino\u306e\u7d71\u5408<\/h2>\n<h3>IMU\u30bb\u30f3\u30b5\u30fc\u3068Arduino\u306e\u63a5\u7d9a<\/h3>\n<p>IMU\u30bb\u30f3\u30b5\u30fc\u306fI2C\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3092\u4f7f\u7528\u3057\u3066Arduino Uno\u306b\u63a5\u7d9a\u3057\u307e\u3059\u3002\u30c7\u30d0\u30a4\u30b9\u306e\u76f8\u4e92\u63a5\u7d9a\u3092\u4ee5\u4e0b\u306e\u56f3\u306b\u793a\u3057\u307e\u3059\uff1a<\/p>\n<p><a href=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/imu-arduino-uno.png\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/imu-arduino-uno.png\" alt=\"\" width=\"939\" height=\"528\" class=\"aligncenter size-full wp-image-30130\" srcset=\"\/wp-content\/uploads\/2024\/05\/imu-arduino-uno.png 939w, \/wp-content\/uploads\/2024\/05\/imu-arduino-uno-300x169.png 300w, \/wp-content\/uploads\/2024\/05\/imu-arduino-uno-768x432.png 768w, \/wp-content\/uploads\/2024\/05\/imu-arduino-uno-150x85.png 150w, \/wp-content\/uploads\/2024\/05\/imu-arduino-uno-600x337.png 600w\" sizes=\"(max-width: 939px) 100vw, 939px\" \/><\/a><\/p>\n<p>\u63a5\u7d9a\u306f\u4ee5\u4e0b\u306e\u901a\u308a\uff1a<\/p>\n<table>\n<thead>\n<tr>\n<th>Arduino Uno Pin<\/th>\n<th>GY-91 IMU Sensor Pin<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>3&#46;3V<\/td>\n<td>VCC<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>GND<\/td>\n<\/tr>\n<tr>\n<td>A4 (SDA)<\/td>\n<td>SDA<\/td>\n<\/tr>\n<tr>\n<td>A5 (SCL)<\/td>\n<td>SCL<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>Arduino Uno\u3092\u30d7\u30ed\u30b0\u30e9\u30e0\u3059\u308b\u306b\u306f\u3001USB\u30b1\u30fc\u30d6\u30eb\u3092\u4f7f\u3063\u3066\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u63a5\u7d9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<h3>Arduino\u3092\u4f7f\u3063\u3066\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3080<\/h3>\n<p>Arduino\u3092\u4f7f\u3063\u3066\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u53d6\u308b\u306b\u306f\u3001\u307e\u305aArduino\u3092\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u65b0\u3057\u3044\u30b9\u30b1\u30c3\u30c1\u3092\u4f5c\u6210\u3057\u3001\u4ee5\u4e0b\u306e\u30b3\u30fc\u30c9\u3092\u30b3\u30d4\u30fc\u3057\u3066\u30b9\u30b1\u30c3\u30c1\u306b\u8cbc\u308a\u4ed8\u3051\u307e\u3059\uff1a<\/p>\n<div class=\"clipboard\">\n<pre><code class=\"language-c\">#include \"MPU9250.h\"\n\n\/\/ an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68\nMPU9250 IMU(Wire,0x68);\nint status;\n\nvoid setup() {\n  \/\/ serial to display data\n  Serial.begin(115200);\n  while(!Serial) {}\n\n  \/\/ start communication with IMU \n  status = IMU.begin();\n  if (status &lt; 0) {\n    Serial.println(\"IMU initialization unsuccessful\");\n    Serial.println(\"Check IMU wiring or try cycling power\");\n    Serial.print(\"Status: \");\n    Serial.println(status);\n    while(1) {}\n  }\n}\n\nvoid loop() {\n  \/\/ read the sensor\n  IMU.readSensor();\n  \/\/ display the data\n  Serial.print(\"ax:\");\n  Serial.print(IMU.getAccelX_mss(),6);\n  Serial.print(\"t\");\n  Serial.print(\"ay:\");\n  Serial.print(IMU.getAccelY_mss(),6);\n  Serial.print(\"t\");\n  Serial.print(\"az:\");\n  Serial.print(IMU.getAccelZ_mss(),6);\n  Serial.print(\"t\");\n  Serial.print(\"gx:\");\n  Serial.print(IMU.getGyroX_rads(),6);\n  Serial.print(\"t\");\n  Serial.print(\"gy:\");\n  Serial.print(IMU.getGyroY_rads(),6);\n  Serial.print(\"t\");\n  Serial.print(\"gz:\");\n  Serial.print(IMU.getGyroZ_rads(),6);\n  Serial.print(\"t\");\n  Serial.print(\"mx:\");\n  Serial.print(IMU.getMagX_uT(),6);\n  Serial.print(\"t\");\n  Serial.print(\"my:\");\n  Serial.print(IMU.getMagY_uT(),6);\n  Serial.print(\"t\");\n  Serial.print(\"my:\");\n  Serial.print(IMU.getMagZ_uT(),6);\n  Serial.print(\"t\");\n  Serial.print(\"s:\");\n  Serial.println(IMU.getTemperature_C(),6);\n  delay(100);\n}<\/code><\/pre>\n<\/div>\n<p>\u3053\u306e\u30b3\u30fc\u30c9\u3067\u306f\u3001I2C \u30d0\u30b9\uff08<code>Wire<\/code>\uff09\u306e\u30a2\u30c9\u30ec\u30b9 <code>0x68<\/code> \u304b\u3089\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092 100 \u30df\u30ea\u79d2\u3054\u3068\u306b\u8aad\u307f\u53d6\u308b\u3088\u3046\u306b\u6307\u793a\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30c7\u30fc\u30bf\u306f\u30dc\u30fc\u30ec\u30fc\u30c8<code>115200<\/code>\u3067\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u306b\u9001\u3089\u308c\u3001\u30ab\u30f3\u30de\u3067\u533a\u5207\u3089\u308c\u305f\u6587\u5b57\u5217\u306e\u5f62\u3092\u3057\u3066\u3044\u307e\u3059\u3002\u6700\u521d\u306e9\u3064\u306e\u5024\u306f<strong>\u52a0\u901f\u5ea6\u8a08<\/strong>\u3001<strong>\u30b8\u30e3\u30a4\u30ed\u30b9\u30b3\u30fc\u30d7<\/strong>\u3001<strong>\u5730\u78c1\u6c17\u8a08<\/strong>\u306e\u30c7\u30fc\u30bf\u3067\u3059\u3002\u6700\u5f8c\u306e\u5024\u306f\u6442\u6c0f\u3067\u306e<strong>\u6e29\u5ea6<\/strong>\u3067\u3059\u3002<\/p>\n<h3>\u30b9\u30b1\u30c3\u30c1\u3092Arduino\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3059\u308b\u3002<\/h3>\n<p>Arduino Uno\u3092\u30d7\u30ed\u30b0\u30e9\u30e0\u3059\u308b\u306b\u306f\u3001Arduino IDE\u306e\u5de6\u4e0a\u306b\u3042\u308b<strong>Upload<\/strong>\u30dc\u30bf\u30f3\uff08\u77e2\u5370\u306e\u30a2\u30a4\u30b3\u30f3\uff09\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u30b9\u30b1\u30c3\u30c1\u3092\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<\/p>\n<p><a href=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/3D-Tracking-System.gif\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/3D-Tracking-System.gif\" alt=\"\" width=\"640\" height=\"360\" class=\"aligncenter size-full wp-image-30123\" \/><\/a><\/p>\n<p><a href=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/upload-sketch.png\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/upload-sketch.png\" alt=\"\" width=\"971\" height=\"384\" class=\"aligncenter size-full wp-image-30132\" srcset=\"\/wp-content\/uploads\/2024\/05\/upload-sketch.png 971w, \/wp-content\/uploads\/2024\/05\/upload-sketch-300x119.png 300w, \/wp-content\/uploads\/2024\/05\/upload-sketch-768x304.png 768w, \/wp-content\/uploads\/2024\/05\/upload-sketch-600x237.png 600w\" sizes=\"(max-width: 971px) 100vw, 971px\" \/><\/a><\/p>\n<p>Arduino Uno\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3059\u308b\u524d\u306b\u3001\u30b9\u30b1\u30c3\u30c1\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u691c\u8a3c\u3059\u308b\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002\u30b9\u30b1\u30c3\u30c1\u3092\u78ba\u8a8d\u3059\u308b\u306b\u306f\u3001\u30c1\u30a7\u30c3\u30af\u30de\u30fc\u30af\u306e\u30a2\u30a4\u30b3\u30f3\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002<\/p>\n<h3>\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u306e\u30e2\u30cb\u30bf\u30fc<\/h3>\n<p>\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u30fc\u3092\u958b\u3044\u3066\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002Arduino IDE\u306e\u53f3\u4e0a\u306b\u3042\u308b\u866b\u773c\u93e1\u30a2\u30a4\u30b3\u30f3\u3092\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u3001\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u3092\u958b\u304f\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p><a href=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/arduino-serial-monitor.png\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/arduino-serial-monitor.png\" alt=\"\" width=\"1216\" height=\"745\" class=\"aligncenter size-full wp-image-30125\" srcset=\"\/wp-content\/uploads\/2024\/05\/arduino-serial-monitor.png 1216w, \/wp-content\/uploads\/2024\/05\/arduino-serial-monitor-300x184.png 300w, \/wp-content\/uploads\/2024\/05\/arduino-serial-monitor-1024x627.png 1024w, \/wp-content\/uploads\/2024\/05\/arduino-serial-monitor-768x471.png 768w, \/wp-content\/uploads\/2024\/05\/arduino-serial-monitor-600x368.png 600w\" sizes=\"(max-width: 1216px) 100vw, 1216px\" \/><\/a><\/p>\n<p>\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u30fc\u3067\u306f\u3001\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u304c\u4ee5\u4e0b\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3067\u8868\u793a\u3055\u308c\u308b\u306f\u305a\u3067\u3059\uff1a<\/p>\n<div class=\"clipboard\">\n<pre><code>ax:0 ay:0 az:-9.1 gx:0 gy:0 gz:0 mx:13.0 my:57.1 my:-105.3 s:27.4<\/code><\/pre>\n<\/div>\n<p>\u307e\u305f\u3001<a href=\"https:\/\/www.man7.org\/linux\/man-pages\/man1\/minicom.1.html\">minicom<\/a>\u306e\u3088\u3046\u306a CLI \u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u30c4\u30fc\u30eb\u3092\u4f7f\u7528\u3057\u3066\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u53d6\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>Ubuntu Linux \u306e\u5834\u5408\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067 minicom \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff1a<\/p>\n<div class=\"clipboard\">\n<pre><code>sudo apt install minicom<\/code><\/pre>\n<\/div>\n<p>\u6b21\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u307f\u307e\u3059\uff1a<\/p>\n<div class=\"clipboard\">\n<pre><code>minicom -D \/dev\/ttyACM0 -b 115200<\/code><\/pre>\n<\/div>\n<p>\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u524d\u306b\u3001Arduino IDE\u306e\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u30fc\u3092\u7d42\u4e86\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<h2>Node.js\u3068WebSocket\u306e\u7d71\u5408<\/h2>\n<h3>Arduino \u304b\u3089\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3080<\/h3>\n<p>Node.js\u306fArduino Uno\u304b\u3089\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u7d4c\u7531\u3067\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u307f\u307e\u3059\u3002\u3053\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3067\u306f\u3001<a href=\"https:\/\/serialport.io\/\">serialport<\/a>\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u4f7f\u7528\u3057\u3066\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002<\/p>\n<div class=\"clipboard\">\n<pre><code class=\"language-js\">import { SerialPort } from 'serialport';\nimport { ReadlineParser } from '@serialport\/parser-readline';\nimport { saveData, getAllData, getDatabyID, info } from '.\/griddbservices.js';\n\n\/\/ Serial port setup\nconst port = new SerialPort({ path: 'COM5', baudRate: 115200 });\nconst parser = port.pipe(new ReadlineParser({ delimiter: 'n' }));\n\nparser.on('data', (data) => {\n console.log(data);\n const parsedData = parseSensorData(data);\n await saveData({ sensorData: JSON.stringify(parsedData) });\n broadcastData(JSON.stringify(parsedData));\n});<\/code><\/pre>\n<\/div>\n<p>\u305d\u306e\u5f8c\u3001\u30c7\u30fc\u30bf\u306fWebSocket\u7d4c\u7531\u3067Web\u30d6\u30e9\u30a6\u30b6\u306b\u300c\u30d6\u30ed\u30fc\u30c9\u30ad\u30e3\u30b9\u30c8\u300d\u3055\u308c\u3001\u5c06\u6765\u306e\u5206\u6790\u306e\u305f\u3081\u306bGridDB\u306b\u3082\u4fdd\u5b58\u3055\u308c\u307e\u3059\u3002<\/p>\n<div class=\"clipboard\">\n<pre><code>await saveData({ sensorData: JSON.stringify(parsedData) });<\/code><\/pre>\n<\/div>\n<p>\u524d\u8ff0\u3057\u305f\u3088\u3046\u306b\u3001Arduino IDE \u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u30fc\u3084 minicom \u306a\u3069\u306e\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u3092\u4f7f\u7528\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u306a\u3069\u3001\u65e2\u5b58\u306e\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u63a5\u7d9a\u3092\u9589\u3058\u3066\u3001Node.js \u30b5\u30fc\u30d0\u30fc\u304c\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3081\u308b\u3088\u3046\u306b\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<h3>\u30a6\u30a7\u30d6\u30bd\u30b1\u30c3\u30c8<\/h3>\n<p>WebSocket \u306f\u3001\u5358\u4e00\u306e TCP \u63a5\u7d9a\u4e0a\u3067\u5168\u4e8c\u91cd\u901a\u4fe1\u30c1\u30e3\u30cd\u30eb\u3092\u63d0\u4f9b\u3059\u308b\u901a\u4fe1\u30d7\u30ed\u30c8\u30b3\u30eb\u3067\u3059\u3002\u3053\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3067\u306f\u3001Node.js \u304b\u3089 Web \u30d6\u30e9\u30a6\u30b6\u306b\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u9001\u4fe1\u3059\u308b\u305f\u3081\u306b\u4f7f\u7528\u3057\u307e\u3059\u3002Node.js\u306bWebSocket\u30b5\u30fc\u30d0\u3092\u5b9f\u88c5\u3059\u308b\u305f\u3081\u306b\u3001<a href=\"https:\/\/www.npmjs.com\/package\/ws\">ws<\/a>\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n<div class=\"clipboard\">\n<pre><code class=\"language-js\">import express from 'express';\nimport { createServer } from 'http';\nimport { WebSocketServer, WebSocket } from 'ws';\n\nconst app = express();\nconst server = createServer(app);\nconst wss = new WebSocketServer({ server });\n\nwss.on('connection', (ws) => {\n  console.log('WebSocket client connected');\n  ws.on('close', () => console.log('WebSocket client disconnected'));\n});\n\nconst broadcastData = (data) => {\n wss.clients.forEach((client) => {\n  if (client.readyState === WebSocket.OPEN) {\n   client.send(data);\n  }\n });\n};<\/code><\/pre>\n<\/div>\n<h2>\u30c7\u30fc\u30bf\u306e\u51e6\u7406\u3068\u53ef\u8996\u5316<\/h2>\n<h3>\u30c7\u30fc\u30bf\u306e\u51e6\u7406<\/h3>\n<p>\u30c7\u30fc\u30bf\u3092\u89e3\u6790\u3057\u3001\u5ea7\u6a19\u7cfb\u306e\u8abf\u6574\u3084\u5358\u4f4d\u306e\u5909\u63db\u306a\u3069\u306e\u51e6\u7406\u3092\u884c\u3044\u307e\u3059\u3002\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u306e\u5358\u4f4d\u3092\u7406\u89e3\u3059\u308b\u305f\u3081\u306b\u3001\u5fc5\u305a\u4e8b\u524d\u306b\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u30b7\u30fc\u30c8\u3092\u8aad\u3093\u3067\u304f\u3060\u3055\u3044\u3002<\/p>\n<div class=\"clipboard\">\n<pre><code class=\"language-js\">function parseSensorData(data) {\n \/\/ Parse the data string\n const sensorValues = data.split('t').map(val => parseFloat(val.split(':')[1]));\n\n \/\/ The order of the data is ax, ay, az, gx, gy, gz, mx, my, mz\n const [ax, ay, az, gx, gy, gz, mx, my, mz, s] = sensorValues;\n\n \/\/ Normalize accelerometer data if needed (currently in m\/s\u00b2, convert to g's if necessary)\n const accel = {\n  x: ax \/ 1000,\n  y: ay \/ 1000,\n  z: az \/ 1000\n };\n\n \/\/ Gyroscope data is in rad\/s, which is what the Madgwick filter expects, so no conversion needed\n const gyro = { x: gx, y: gy, z: gz };\n\n \/\/ Magnetometer data is in microteslas (uT), convert to Teslas by dividing by 1,000,000 if necessary\n const mag = {\n  x: mx \/ 1000000,\n  y: my \/ 1000000,\n  z: mz \/ 1000000\n };\n\n const temp = { s }\n\n return { accel, gyro, mag, s };\n}<\/code><\/pre>\n<\/div>\n<p>\u3053\u306e\u89e3\u6790\u3055\u308c\u305f\u30c7\u30fc\u30bf\u306f\u3001WebSocket\u3092\u4ecb\u3057\u3066\u30a6\u30a7\u30d6\u30fb\u30d6\u30e9\u30a6\u30b6\u306b\u9001\u4fe1\u3055\u308c\u307e\u3059\u3002<\/p>\n<h3>Babylon.js\u306b\u3088\u308b\u30d3\u30b8\u30e5\u30a2\u30e9\u30a4\u30bc\u30fc\u30b7\u30e7\u30f3<\/h3>\n<p>\u30e2\u30fc\u30b7\u30e7\u30f3\u30fb\u30c7\u30fc\u30bf\u3092\u8996\u899a\u5316\u3059\u308b\u305f\u3081\u306b\u3001WebGL\u3068WebVR\u3092\u4f7f\u3063\u30663D\u30b2\u30fc\u30e0\u3084\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u69cb\u7bc9\u3059\u308b\u305f\u3081\u306eJavaScript\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u3042\u308b<a href=\"https:\/\/www.babylonjs.com\/\">Babylon.js<\/a>\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002HTML\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\uff1a<\/p>\n<div class=\"clipboard\">\n<pre><code class=\"language-html\">&lt;!DOCTYPE html&gt;\n&lt;html&gt;\n&lt;head&gt;\n    &lt;meta charset=\"utf-8\" \/&gt;\n    &lt;title&gt;3D Sensor Visualization&lt;\/title&gt;\n    &lt;script src=\"https:\/\/cdn.babylonjs.com\/babylon.js\"&gt;&lt;\/script&gt;\n    &lt;style&gt;\n        #renderCanvas {\n            width: 100%;\n            height: 100vh;\n            touch-action: none;\n        }\n    &lt;\/style&gt;\n&lt;\/head&gt;\n\n&lt;body&gt;\n    &lt;canvas id=\"renderCanvas\"&gt;&lt;\/canvas&gt;\n    &lt;script&gt;\n        window.addEventListener('DOMContentLoaded', () =&gt; {\n            const canvas = document.getElementById('renderCanvas');\n            const engine = new BABYLON.Engine(canvas, true);\n\n            const createScene = () =&gt; {\n                const scene = new BABYLON.Scene(engine);\n                const camera = new BABYLON.ArcRotateCamera(\"camera\", -Math.PI \/ 2, Math.PI \/ 2.5, 10, new BABYLON.Vector3(0, 0, 0), scene);\n                camera.attachControl(canvas, true);\n                new BABYLON.HemisphericLight(\"light\", new BABYLON.Vector3(1, 1, 0), scene);\n                const box = BABYLON.MeshBuilder.CreateBox(\"box\", { size: 2 }, scene);\n                return { scene, box };\n            };\n\n            const { scene, box } = createScene();\n\n            const ws = new WebSocket('ws:\/\/localhost:3000');\n            ws.onmessage = (event) =&gt; {\n                const sensorData = JSON.parse(event.data);\n                const { gyro } = sensorData;\n\n                \/\/ Update cube rotation with gyro data in radians\/s\n                \/\/ Assume you're receiving data at a rate of 60Hz (or adjust as per your rate)\n                box.rotation.x += gyro.x \/ 10; \/\/ Update rotation based on gyro data\n                box.rotation.y += gyro.y \/ 10;\n                box.rotation.z += gyro.z \/ 10;\n            };\n\n            engine.runRenderLoop(() =&gt; {\n                scene.render();\n            });\n\n            window.addEventListener('resize', () =&gt; {\n                engine.resize();\n            });\n        });\n    &lt;\/script&gt;\n&lt;\/body&gt;\n\n&lt;\/html&gt;<\/code><\/pre>\n<\/div>\n<p>\u4e0a\u306e\u30b3\u30fc\u30c9\u3067\u306f\u3001\u30ab\u30e1\u30e9\u3001\u30e9\u30a4\u30c8\u3001\u30dc\u30c3\u30af\u30b9\u3067\u30b7\u30fc\u30f3\u3092\u4f5c\u6210\u3057\u3066\u3044\u307e\u3059\u3002\u30dc\u30c3\u30af\u30b9\u306f\u3001IMU\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u306e\u30b8\u30e3\u30a4\u30ed\u30b9\u30b3\u30fc\u30d7\u30fb\u30c7\u30fc\u30bf\u306b\u57fa\u3065\u3044\u3066\u56de\u8ee2\u3057\u307e\u3059\u3002\u30b8\u30e3\u30a4\u30ed\u30c7\u30fc\u30bf\u306fNode.js\u304b\u3089WebSocket\u7d4c\u7531\u3067\u53d7\u4fe1\u3055\u308c\u307e\u3059\u3002<\/p>\n<div align=\"center\">\n  <img decoding=\"async\" src=\"images\/3D-Tracking-System.gif\" \/> \n<\/div>\n<p>\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f\u3001WebSocket URL \u306f <code>localhost<\/code> \u3067\u30dd\u30fc\u30c8 <code>3000<\/code> \u3067\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002Node.js\u30b5\u30fc\u30d0\u30fc\u306eURL\u306b\u5408\u308f\u305b\u3066WebSocket URL\u3092\u5909\u66f4\u3057\u3001\u3053\u306e\u884c\u306e\u30b3\u30fc\u30c9\u3092\u5909\u66f4\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff1a<\/p>\n<div class=\"clipboard\">\n<pre><code>const ws = new WebSocket('ws:\/\/localhost:3000');<\/code><\/pre>\n<\/div>\n<h2>GridDB\u306b\u3088\u308b\u30c7\u30fc\u30bf\u306e\u4fdd\u5b58<\/h2>\n<p>GridDB\u306f\u3001IMU\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u306e\u30e2\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092\u5c06\u6765\u306e\u89e3\u6790\u306e\u305f\u3081\u306b\u4fdd\u5b58\u3057\u307e\u3059\u3002\u30d5\u30a1\u30a4\u30eb <code>app\/server\/griddbservices.js<\/code> \u306f\u3001GridDB \u306e\u95a2\u6570\u3092\u542b\u3080 <code>libs\/griddb.js<\/code> \u306e\u30e9\u30c3\u30d1\u30fc\u3067\u3059\u3002<\/p>\n<p>\u89e3\u6790\u3057\u305f\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u3092 GridDB 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conInfo;\n}<\/code><\/pre>\n<\/div>\n<h2>GridDB\u304b\u3089\u306e\u30c7\u30fc\u30bf\u53d6\u5f97<\/h2>\n<p>GridDB\u304b\u3089\u5168\u3066\u306e\u30c7\u30fc\u30bf\u3092\u53d6\u5f97\u3059\u308b\u30b3\u30fc\u30c9\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\uff1a<\/p>\n<div class=\"clipboard\">\n<pre><code class=\"language-js\">app.get('\/data', async (req, res) => {\n    log.info('Getting all data from GridDB');\n    try {\n        const result = await getAllData();\n        res.json(result);\n    } catch (error) {\n        res.status(500).send('Error getting all data');\n    }\n})<\/code><\/pre>\n<\/div>\n<p>URL<code>http:\/\/localhost:3000\/data<\/code>\u306b\u30a2\u30af\u30bb\u30b9\u3059\u308c\u3070\u3001\u30d6\u30e9\u30a6\u30b6\u304b\u3089\u30c7\u30fc\u30bf\u3092\u53d6\u308a\u51fa\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p><a href=\"https:\/\/griddb.net\/wp-content\/uploads\/2024\/05\/griddb-data.png\"><img loading=\"lazy\" decoding=\"async\" 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