You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
632 lines
40 KiB
632 lines
40 KiB
<!DOCTYPE html>
|
|
<html lang="en">
|
|
<head>
|
|
<meta charset="UTF-8">
|
|
<meta http-equiv="X-UA-Compatible" content="IE=edge">
|
|
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
|
<meta name="generator" content="Asciidoctor 2.0.10">
|
|
<title>3D Tracking with IMU</title>
|
|
<link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Open+Sans:300,300italic,400,400italic,600,600italic%7CNoto+Serif:400,400italic,700,700italic%7CDroid+Sans+Mono:400,700">
|
|
<style>
|
|
/* Asciidoctor default stylesheet | MIT License | https://asciidoctor.org */
|
|
/* Uncomment @import statement to use as custom stylesheet */
|
|
/*@import "https://fonts.googleapis.com/css?family=Open+Sans:300,300italic,400,400italic,600,600italic%7CNoto+Serif:400,400italic,700,700italic%7CDroid+Sans+Mono:400,700";*/
|
|
article,aside,details,figcaption,figure,footer,header,hgroup,main,nav,section{display:block}
|
|
audio,video{display:inline-block}
|
|
audio:not([controls]){display:none;height:0}
|
|
html{font-family:sans-serif;-ms-text-size-adjust:100%;-webkit-text-size-adjust:100%}
|
|
a{background:none}
|
|
a:focus{outline:thin dotted}
|
|
a:active,a:hover{outline:0}
|
|
h1{font-size:2em;margin:.67em 0}
|
|
abbr[title]{border-bottom:1px dotted}
|
|
b,strong{font-weight:bold}
|
|
dfn{font-style:italic}
|
|
hr{-moz-box-sizing:content-box;box-sizing:content-box;height:0}
|
|
mark{background:#ff0;color:#000}
|
|
code,kbd,pre,samp{font-family:monospace;font-size:1em}
|
|
pre{white-space:pre-wrap}
|
|
q{quotes:"\201C" "\201D" "\2018" "\2019"}
|
|
small{font-size:80%}
|
|
sub,sup{font-size:75%;line-height:0;position:relative;vertical-align:baseline}
|
|
sup{top:-.5em}
|
|
sub{bottom:-.25em}
|
|
img{border:0}
|
|
svg:not(:root){overflow:hidden}
|
|
figure{margin:0}
|
|
fieldset{border:1px solid silver;margin:0 2px;padding:.35em .625em .75em}
|
|
legend{border:0;padding:0}
|
|
button,input,select,textarea{font-family:inherit;font-size:100%;margin:0}
|
|
button,input{line-height:normal}
|
|
button,select{text-transform:none}
|
|
button,html input[type="button"],input[type="reset"],input[type="submit"]{-webkit-appearance:button;cursor:pointer}
|
|
button[disabled],html input[disabled]{cursor:default}
|
|
input[type="checkbox"],input[type="radio"]{box-sizing:border-box;padding:0}
|
|
button::-moz-focus-inner,input::-moz-focus-inner{border:0;padding:0}
|
|
textarea{overflow:auto;vertical-align:top}
|
|
table{border-collapse:collapse;border-spacing:0}
|
|
*,*::before,*::after{-moz-box-sizing:border-box;-webkit-box-sizing:border-box;box-sizing:border-box}
|
|
html,body{font-size:100%}
|
|
body{background:#fff;color:rgba(0,0,0,.8);padding:0;margin:0;font-family:"Noto Serif","DejaVu Serif",serif;font-weight:400;font-style:normal;line-height:1;position:relative;cursor:auto;tab-size:4;-moz-osx-font-smoothing:grayscale;-webkit-font-smoothing:antialiased}
|
|
a:hover{cursor:pointer}
|
|
img,object,embed{max-width:100%;height:auto}
|
|
object,embed{height:100%}
|
|
img{-ms-interpolation-mode:bicubic}
|
|
.left{float:left!important}
|
|
.right{float:right!important}
|
|
.text-left{text-align:left!important}
|
|
.text-right{text-align:right!important}
|
|
.text-center{text-align:center!important}
|
|
.text-justify{text-align:justify!important}
|
|
.hide{display:none}
|
|
img,object,svg{display:inline-block;vertical-align:middle}
|
|
textarea{height:auto;min-height:50px}
|
|
select{width:100%}
|
|
.center{margin-left:auto;margin-right:auto}
|
|
.stretch{width:100%}
|
|
.subheader,.admonitionblock td.content>.title,.audioblock>.title,.exampleblock>.title,.imageblock>.title,.listingblock>.title,.literalblock>.title,.stemblock>.title,.openblock>.title,.paragraph>.title,.quoteblock>.title,table.tableblock>.title,.verseblock>.title,.videoblock>.title,.dlist>.title,.olist>.title,.ulist>.title,.qlist>.title,.hdlist>.title{line-height:1.45;color:#7a2518;font-weight:400;margin-top:0;margin-bottom:.25em}
|
|
div,dl,dt,dd,ul,ol,li,h1,h2,h3,#toctitle,.sidebarblock>.content>.title,h4,h5,h6,pre,form,p,blockquote,th,td{margin:0;padding:0;direction:ltr}
|
|
a{color:#2156a5;text-decoration:underline;line-height:inherit}
|
|
a:hover,a:focus{color:#1d4b8f}
|
|
a img{border:0}
|
|
p{font-family:inherit;font-weight:400;font-size:1em;line-height:1.6;margin-bottom:1.25em;text-rendering:optimizeLegibility}
|
|
p aside{font-size:.875em;line-height:1.35;font-style:italic}
|
|
h1,h2,h3,#toctitle,.sidebarblock>.content>.title,h4,h5,h6{font-family:"Open Sans","DejaVu Sans",sans-serif;font-weight:300;font-style:normal;color:#ba3925;text-rendering:optimizeLegibility;margin-top:1em;margin-bottom:.5em;line-height:1.0125em}
|
|
h1 small,h2 small,h3 small,#toctitle small,.sidebarblock>.content>.title small,h4 small,h5 small,h6 small{font-size:60%;color:#e99b8f;line-height:0}
|
|
h1{font-size:2.125em}
|
|
h2{font-size:1.6875em}
|
|
h3,#toctitle,.sidebarblock>.content>.title{font-size:1.375em}
|
|
h4,h5{font-size:1.125em}
|
|
h6{font-size:1em}
|
|
hr{border:solid #dddddf;border-width:1px 0 0;clear:both;margin:1.25em 0 1.1875em;height:0}
|
|
em,i{font-style:italic;line-height:inherit}
|
|
strong,b{font-weight:bold;line-height:inherit}
|
|
small{font-size:60%;line-height:inherit}
|
|
code{font-family:"Droid Sans Mono","DejaVu Sans Mono",monospace;font-weight:400;color:rgba(0,0,0,.9)}
|
|
ul,ol,dl{font-size:1em;line-height:1.6;margin-bottom:1.25em;list-style-position:outside;font-family:inherit}
|
|
ul,ol{margin-left:1.5em}
|
|
ul li ul,ul li ol{margin-left:1.25em;margin-bottom:0;font-size:1em}
|
|
ul.square li ul,ul.circle li ul,ul.disc li ul{list-style:inherit}
|
|
ul.square{list-style-type:square}
|
|
ul.circle{list-style-type:circle}
|
|
ul.disc{list-style-type:disc}
|
|
ol li ul,ol li ol{margin-left:1.25em;margin-bottom:0}
|
|
dl dt{margin-bottom:.3125em;font-weight:bold}
|
|
dl dd{margin-bottom:1.25em}
|
|
abbr,acronym{text-transform:uppercase;font-size:90%;color:rgba(0,0,0,.8);border-bottom:1px dotted #ddd;cursor:help}
|
|
abbr{text-transform:none}
|
|
blockquote{margin:0 0 1.25em;padding:.5625em 1.25em 0 1.1875em;border-left:1px solid #ddd}
|
|
blockquote cite{display:block;font-size:.9375em;color:rgba(0,0,0,.6)}
|
|
blockquote cite::before{content:"\2014 \0020"}
|
|
blockquote cite a,blockquote cite a:visited{color:rgba(0,0,0,.6)}
|
|
blockquote,blockquote p{line-height:1.6;color:rgba(0,0,0,.85)}
|
|
@media screen and (min-width:768px){h1,h2,h3,#toctitle,.sidebarblock>.content>.title,h4,h5,h6{line-height:1.2}
|
|
h1{font-size:2.75em}
|
|
h2{font-size:2.3125em}
|
|
h3,#toctitle,.sidebarblock>.content>.title{font-size:1.6875em}
|
|
h4{font-size:1.4375em}}
|
|
table{background:#fff;margin-bottom:1.25em;border:solid 1px #dedede}
|
|
table thead,table tfoot{background:#f7f8f7}
|
|
table thead tr th,table thead tr td,table tfoot tr th,table tfoot tr td{padding:.5em .625em .625em;font-size:inherit;color:rgba(0,0,0,.8);text-align:left}
|
|
table tr th,table tr td{padding:.5625em .625em;font-size:inherit;color:rgba(0,0,0,.8)}
|
|
table tr.even,table tr.alt{background:#f8f8f7}
|
|
table thead tr th,table tfoot tr th,table tbody tr td,table tr td,table tfoot tr td{display:table-cell;line-height:1.6}
|
|
h1,h2,h3,#toctitle,.sidebarblock>.content>.title,h4,h5,h6{line-height:1.2;word-spacing:-.05em}
|
|
h1 strong,h2 strong,h3 strong,#toctitle strong,.sidebarblock>.content>.title strong,h4 strong,h5 strong,h6 strong{font-weight:400}
|
|
.clearfix::before,.clearfix::after,.float-group::before,.float-group::after{content:" ";display:table}
|
|
.clearfix::after,.float-group::after{clear:both}
|
|
:not(pre):not([class^=L])>code{font-size:.9375em;font-style:normal!important;letter-spacing:0;padding:.1em .5ex;word-spacing:-.15em;background:#f7f7f8;-webkit-border-radius:4px;border-radius:4px;line-height:1.45;text-rendering:optimizeSpeed;word-wrap:break-word}
|
|
:not(pre)>code.nobreak{word-wrap:normal}
|
|
:not(pre)>code.nowrap{white-space:nowrap}
|
|
pre{color:rgba(0,0,0,.9);font-family:"Droid Sans Mono","DejaVu Sans Mono",monospace;line-height:1.45;text-rendering:optimizeSpeed}
|
|
pre code,pre pre{color:inherit;font-size:inherit;line-height:inherit}
|
|
pre>code{display:block}
|
|
pre.nowrap,pre.nowrap pre{white-space:pre;word-wrap:normal}
|
|
em em{font-style:normal}
|
|
strong strong{font-weight:400}
|
|
.keyseq{color:rgba(51,51,51,.8)}
|
|
kbd{font-family:"Droid Sans Mono","DejaVu Sans Mono",monospace;display:inline-block;color:rgba(0,0,0,.8);font-size:.65em;line-height:1.45;background:#f7f7f7;border:1px solid #ccc;-webkit-border-radius:3px;border-radius:3px;-webkit-box-shadow:0 1px 0 rgba(0,0,0,.2),0 0 0 .1em white inset;box-shadow:0 1px 0 rgba(0,0,0,.2),0 0 0 .1em #fff inset;margin:0 .15em;padding:.2em .5em;vertical-align:middle;position:relative;top:-.1em;white-space:nowrap}
|
|
.keyseq kbd:first-child{margin-left:0}
|
|
.keyseq kbd:last-child{margin-right:0}
|
|
.menuseq,.menuref{color:#000}
|
|
.menuseq b:not(.caret),.menuref{font-weight:inherit}
|
|
.menuseq{word-spacing:-.02em}
|
|
.menuseq b.caret{font-size:1.25em;line-height:.8}
|
|
.menuseq i.caret{font-weight:bold;text-align:center;width:.45em}
|
|
b.button::before,b.button::after{position:relative;top:-1px;font-weight:400}
|
|
b.button::before{content:"[";padding:0 3px 0 2px}
|
|
b.button::after{content:"]";padding:0 2px 0 3px}
|
|
p a>code:hover{color:rgba(0,0,0,.9)}
|
|
#header,#content,#footnotes,#footer{width:100%;margin-left:auto;margin-right:auto;margin-top:0;margin-bottom:0;max-width:62.5em;*zoom:1;position:relative;padding-left:.9375em;padding-right:.9375em}
|
|
#header::before,#header::after,#content::before,#content::after,#footnotes::before,#footnotes::after,#footer::before,#footer::after{content:" ";display:table}
|
|
#header::after,#content::after,#footnotes::after,#footer::after{clear:both}
|
|
#content{margin-top:1.25em}
|
|
#content::before{content:none}
|
|
#header>h1:first-child{color:rgba(0,0,0,.85);margin-top:2.25rem;margin-bottom:0}
|
|
#header>h1:first-child+#toc{margin-top:8px;border-top:1px solid #dddddf}
|
|
#header>h1:only-child,body.toc2 #header>h1:nth-last-child(2){border-bottom:1px solid #dddddf;padding-bottom:8px}
|
|
#header .details{border-bottom:1px solid #dddddf;line-height:1.45;padding-top:.25em;padding-bottom:.25em;padding-left:.25em;color:rgba(0,0,0,.6);display:-ms-flexbox;display:-webkit-flex;display:flex;-ms-flex-flow:row wrap;-webkit-flex-flow:row wrap;flex-flow:row wrap}
|
|
#header .details span:first-child{margin-left:-.125em}
|
|
#header .details span.email a{color:rgba(0,0,0,.85)}
|
|
#header .details br{display:none}
|
|
#header .details br+span::before{content:"\00a0\2013\00a0"}
|
|
#header .details br+span.author::before{content:"\00a0\22c5\00a0";color:rgba(0,0,0,.85)}
|
|
#header .details br+span#revremark::before{content:"\00a0|\00a0"}
|
|
#header #revnumber{text-transform:capitalize}
|
|
#header #revnumber::after{content:"\00a0"}
|
|
#content>h1:first-child:not([class]){color:rgba(0,0,0,.85);border-bottom:1px solid #dddddf;padding-bottom:8px;margin-top:0;padding-top:1rem;margin-bottom:1.25rem}
|
|
#toc{border-bottom:1px solid #e7e7e9;padding-bottom:.5em}
|
|
#toc>ul{margin-left:.125em}
|
|
#toc ul.sectlevel0>li>a{font-style:italic}
|
|
#toc ul.sectlevel0 ul.sectlevel1{margin:.5em 0}
|
|
#toc ul{font-family:"Open Sans","DejaVu Sans",sans-serif;list-style-type:none}
|
|
#toc li{line-height:1.3334;margin-top:.3334em}
|
|
#toc a{text-decoration:none}
|
|
#toc a:active{text-decoration:underline}
|
|
#toctitle{color:#7a2518;font-size:1.2em}
|
|
@media screen and (min-width:768px){#toctitle{font-size:1.375em}
|
|
body.toc2{padding-left:15em;padding-right:0}
|
|
#toc.toc2{margin-top:0!important;background:#f8f8f7;position:fixed;width:15em;left:0;top:0;border-right:1px solid #e7e7e9;border-top-width:0!important;border-bottom-width:0!important;z-index:1000;padding:1.25em 1em;height:100%;overflow:auto}
|
|
#toc.toc2 #toctitle{margin-top:0;margin-bottom:.8rem;font-size:1.2em}
|
|
#toc.toc2>ul{font-size:.9em;margin-bottom:0}
|
|
#toc.toc2 ul ul{margin-left:0;padding-left:1em}
|
|
#toc.toc2 ul.sectlevel0 ul.sectlevel1{padding-left:0;margin-top:.5em;margin-bottom:.5em}
|
|
body.toc2.toc-right{padding-left:0;padding-right:15em}
|
|
body.toc2.toc-right #toc.toc2{border-right-width:0;border-left:1px solid #e7e7e9;left:auto;right:0}}
|
|
@media screen and (min-width:1280px){body.toc2{padding-left:20em;padding-right:0}
|
|
#toc.toc2{width:20em}
|
|
#toc.toc2 #toctitle{font-size:1.375em}
|
|
#toc.toc2>ul{font-size:.95em}
|
|
#toc.toc2 ul ul{padding-left:1.25em}
|
|
body.toc2.toc-right{padding-left:0;padding-right:20em}}
|
|
#content #toc{border-style:solid;border-width:1px;border-color:#e0e0dc;margin-bottom:1.25em;padding:1.25em;background:#f8f8f7;-webkit-border-radius:4px;border-radius:4px}
|
|
#content #toc>:first-child{margin-top:0}
|
|
#content #toc>:last-child{margin-bottom:0}
|
|
#footer{max-width:100%;background:rgba(0,0,0,.8);padding:1.25em}
|
|
#footer-text{color:rgba(255,255,255,.8);line-height:1.44}
|
|
#content{margin-bottom:.625em}
|
|
.sect1{padding-bottom:.625em}
|
|
@media screen and (min-width:768px){#content{margin-bottom:1.25em}
|
|
.sect1{padding-bottom:1.25em}}
|
|
.sect1:last-child{padding-bottom:0}
|
|
.sect1+.sect1{border-top:1px solid #e7e7e9}
|
|
#content h1>a.anchor,h2>a.anchor,h3>a.anchor,#toctitle>a.anchor,.sidebarblock>.content>.title>a.anchor,h4>a.anchor,h5>a.anchor,h6>a.anchor{position:absolute;z-index:1001;width:1.5ex;margin-left:-1.5ex;display:block;text-decoration:none!important;visibility:hidden;text-align:center;font-weight:400}
|
|
#content h1>a.anchor::before,h2>a.anchor::before,h3>a.anchor::before,#toctitle>a.anchor::before,.sidebarblock>.content>.title>a.anchor::before,h4>a.anchor::before,h5>a.anchor::before,h6>a.anchor::before{content:"\00A7";font-size:.85em;display:block;padding-top:.1em}
|
|
#content h1:hover>a.anchor,#content h1>a.anchor:hover,h2:hover>a.anchor,h2>a.anchor:hover,h3:hover>a.anchor,#toctitle:hover>a.anchor,.sidebarblock>.content>.title:hover>a.anchor,h3>a.anchor:hover,#toctitle>a.anchor:hover,.sidebarblock>.content>.title>a.anchor:hover,h4:hover>a.anchor,h4>a.anchor:hover,h5:hover>a.anchor,h5>a.anchor:hover,h6:hover>a.anchor,h6>a.anchor:hover{visibility:visible}
|
|
#content h1>a.link,h2>a.link,h3>a.link,#toctitle>a.link,.sidebarblock>.content>.title>a.link,h4>a.link,h5>a.link,h6>a.link{color:#ba3925;text-decoration:none}
|
|
#content h1>a.link:hover,h2>a.link:hover,h3>a.link:hover,#toctitle>a.link:hover,.sidebarblock>.content>.title>a.link:hover,h4>a.link:hover,h5>a.link:hover,h6>a.link:hover{color:#a53221}
|
|
details,.audioblock,.imageblock,.literalblock,.listingblock,.stemblock,.videoblock{margin-bottom:1.25em}
|
|
details>summary:first-of-type{cursor:pointer;display:list-item;outline:none;margin-bottom:.75em}
|
|
.admonitionblock td.content>.title,.audioblock>.title,.exampleblock>.title,.imageblock>.title,.listingblock>.title,.literalblock>.title,.stemblock>.title,.openblock>.title,.paragraph>.title,.quoteblock>.title,table.tableblock>.title,.verseblock>.title,.videoblock>.title,.dlist>.title,.olist>.title,.ulist>.title,.qlist>.title,.hdlist>.title{text-rendering:optimizeLegibility;text-align:left;font-family:"Noto Serif","DejaVu Serif",serif;font-size:1rem;font-style:italic}
|
|
table.tableblock.fit-content>caption.title{white-space:nowrap;width:0}
|
|
.paragraph.lead>p,#preamble>.sectionbody>[class="paragraph"]:first-of-type p{font-size:1.21875em;line-height:1.6;color:rgba(0,0,0,.85)}
|
|
table.tableblock #preamble>.sectionbody>[class="paragraph"]:first-of-type p{font-size:inherit}
|
|
.admonitionblock>table{border-collapse:separate;border:0;background:none;width:100%}
|
|
.admonitionblock>table td.icon{text-align:center;width:80px}
|
|
.admonitionblock>table td.icon img{max-width:none}
|
|
.admonitionblock>table td.icon .title{font-weight:bold;font-family:"Open Sans","DejaVu Sans",sans-serif;text-transform:uppercase}
|
|
.admonitionblock>table td.content{padding-left:1.125em;padding-right:1.25em;border-left:1px solid #dddddf;color:rgba(0,0,0,.6)}
|
|
.admonitionblock>table td.content>:last-child>:last-child{margin-bottom:0}
|
|
.exampleblock>.content{border-style:solid;border-width:1px;border-color:#e6e6e6;margin-bottom:1.25em;padding:1.25em;background:#fff;-webkit-border-radius:4px;border-radius:4px}
|
|
.exampleblock>.content>:first-child{margin-top:0}
|
|
.exampleblock>.content>:last-child{margin-bottom:0}
|
|
.sidebarblock{border-style:solid;border-width:1px;border-color:#dbdbd6;margin-bottom:1.25em;padding:1.25em;background:#f3f3f2;-webkit-border-radius:4px;border-radius:4px}
|
|
.sidebarblock>:first-child{margin-top:0}
|
|
.sidebarblock>:last-child{margin-bottom:0}
|
|
.sidebarblock>.content>.title{color:#7a2518;margin-top:0;text-align:center}
|
|
.exampleblock>.content>:last-child>:last-child,.exampleblock>.content .olist>ol>li:last-child>:last-child,.exampleblock>.content .ulist>ul>li:last-child>:last-child,.exampleblock>.content .qlist>ol>li:last-child>:last-child,.sidebarblock>.content>:last-child>:last-child,.sidebarblock>.content .olist>ol>li:last-child>:last-child,.sidebarblock>.content .ulist>ul>li:last-child>:last-child,.sidebarblock>.content .qlist>ol>li:last-child>:last-child{margin-bottom:0}
|
|
.literalblock pre,.listingblock>.content>pre{-webkit-border-radius:4px;border-radius:4px;word-wrap:break-word;overflow-x:auto;padding:1em;font-size:.8125em}
|
|
@media screen and (min-width:768px){.literalblock pre,.listingblock>.content>pre{font-size:.90625em}}
|
|
@media screen and (min-width:1280px){.literalblock pre,.listingblock>.content>pre{font-size:1em}}
|
|
.literalblock pre,.listingblock>.content>pre:not(.highlight),.listingblock>.content>pre[class="highlight"],.listingblock>.content>pre[class^="highlight "]{background:#f7f7f8}
|
|
.literalblock.output pre{color:#f7f7f8;background:rgba(0,0,0,.9)}
|
|
.listingblock>.content{position:relative}
|
|
.listingblock code[data-lang]::before{display:none;content:attr(data-lang);position:absolute;font-size:.75em;top:.425rem;right:.5rem;line-height:1;text-transform:uppercase;color:inherit;opacity:.5}
|
|
.listingblock:hover code[data-lang]::before{display:block}
|
|
.listingblock.terminal pre .command::before{content:attr(data-prompt);padding-right:.5em;color:inherit;opacity:.5}
|
|
.listingblock.terminal pre .command:not([data-prompt])::before{content:"$"}
|
|
.listingblock pre.highlightjs{padding:0}
|
|
.listingblock pre.highlightjs>code{padding:1em;-webkit-border-radius:4px;border-radius:4px}
|
|
.listingblock pre.prettyprint{border-width:0}
|
|
.prettyprint{background:#f7f7f8}
|
|
pre.prettyprint .linenums{line-height:1.45;margin-left:2em}
|
|
pre.prettyprint li{background:none;list-style-type:inherit;padding-left:0}
|
|
pre.prettyprint li code[data-lang]::before{opacity:1}
|
|
pre.prettyprint li:not(:first-child) code[data-lang]::before{display:none}
|
|
table.linenotable{border-collapse:separate;border:0;margin-bottom:0;background:none}
|
|
table.linenotable td[class]{color:inherit;vertical-align:top;padding:0;line-height:inherit;white-space:normal}
|
|
table.linenotable td.code{padding-left:.75em}
|
|
table.linenotable td.linenos{border-right:1px solid currentColor;opacity:.35;padding-right:.5em}
|
|
pre.pygments .lineno{border-right:1px solid currentColor;opacity:.35;display:inline-block;margin-right:.75em}
|
|
pre.pygments .lineno::before{content:"";margin-right:-.125em}
|
|
.quoteblock{margin:0 1em 1.25em 1.5em;display:table}
|
|
.quoteblock:not(.excerpt)>.title{margin-left:-1.5em;margin-bottom:.75em}
|
|
.quoteblock blockquote,.quoteblock p{color:rgba(0,0,0,.85);font-size:1.15rem;line-height:1.75;word-spacing:.1em;letter-spacing:0;font-style:italic;text-align:justify}
|
|
.quoteblock blockquote{margin:0;padding:0;border:0}
|
|
.quoteblock blockquote::before{content:"\201c";float:left;font-size:2.75em;font-weight:bold;line-height:.6em;margin-left:-.6em;color:#7a2518;text-shadow:0 1px 2px rgba(0,0,0,.1)}
|
|
.quoteblock blockquote>.paragraph:last-child p{margin-bottom:0}
|
|
.quoteblock .attribution{margin-top:.75em;margin-right:.5ex;text-align:right}
|
|
.verseblock{margin:0 1em 1.25em}
|
|
.verseblock pre{font-family:"Open Sans","DejaVu Sans",sans;font-size:1.15rem;color:rgba(0,0,0,.85);font-weight:300;text-rendering:optimizeLegibility}
|
|
.verseblock pre strong{font-weight:400}
|
|
.verseblock .attribution{margin-top:1.25rem;margin-left:.5ex}
|
|
.quoteblock .attribution,.verseblock .attribution{font-size:.9375em;line-height:1.45;font-style:italic}
|
|
.quoteblock .attribution br,.verseblock .attribution br{display:none}
|
|
.quoteblock .attribution cite,.verseblock .attribution cite{display:block;letter-spacing:-.025em;color:rgba(0,0,0,.6)}
|
|
.quoteblock.abstract blockquote::before,.quoteblock.excerpt blockquote::before,.quoteblock .quoteblock blockquote::before{display:none}
|
|
.quoteblock.abstract blockquote,.quoteblock.abstract p,.quoteblock.excerpt blockquote,.quoteblock.excerpt p,.quoteblock .quoteblock blockquote,.quoteblock .quoteblock p{line-height:1.6;word-spacing:0}
|
|
.quoteblock.abstract{margin:0 1em 1.25em;display:block}
|
|
.quoteblock.abstract>.title{margin:0 0 .375em;font-size:1.15em;text-align:center}
|
|
.quoteblock.excerpt>blockquote,.quoteblock .quoteblock{padding:0 0 .25em 1em;border-left:.25em solid #dddddf}
|
|
.quoteblock.excerpt,.quoteblock .quoteblock{margin-left:0}
|
|
.quoteblock.excerpt blockquote,.quoteblock.excerpt p,.quoteblock .quoteblock blockquote,.quoteblock .quoteblock p{color:inherit;font-size:1.0625rem}
|
|
.quoteblock.excerpt .attribution,.quoteblock .quoteblock .attribution{color:inherit;text-align:left;margin-right:0}
|
|
table.tableblock{max-width:100%;border-collapse:separate}
|
|
p.tableblock:last-child{margin-bottom:0}
|
|
td.tableblock>.content>:last-child{margin-bottom:-1.25em}
|
|
td.tableblock>.content>:last-child.sidebarblock{margin-bottom:0}
|
|
table.tableblock,th.tableblock,td.tableblock{border:0 solid #dedede}
|
|
table.grid-all>thead>tr>.tableblock,table.grid-all>tbody>tr>.tableblock{border-width:0 1px 1px 0}
|
|
table.grid-all>tfoot>tr>.tableblock{border-width:1px 1px 0 0}
|
|
table.grid-cols>*>tr>.tableblock{border-width:0 1px 0 0}
|
|
table.grid-rows>thead>tr>.tableblock,table.grid-rows>tbody>tr>.tableblock{border-width:0 0 1px}
|
|
table.grid-rows>tfoot>tr>.tableblock{border-width:1px 0 0}
|
|
table.grid-all>*>tr>.tableblock:last-child,table.grid-cols>*>tr>.tableblock:last-child{border-right-width:0}
|
|
table.grid-all>tbody>tr:last-child>.tableblock,table.grid-all>thead:last-child>tr>.tableblock,table.grid-rows>tbody>tr:last-child>.tableblock,table.grid-rows>thead:last-child>tr>.tableblock{border-bottom-width:0}
|
|
table.frame-all{border-width:1px}
|
|
table.frame-sides{border-width:0 1px}
|
|
table.frame-topbot,table.frame-ends{border-width:1px 0}
|
|
table.stripes-all tr,table.stripes-odd tr:nth-of-type(odd),table.stripes-even tr:nth-of-type(even),table.stripes-hover tr:hover{background:#f8f8f7}
|
|
th.halign-left,td.halign-left{text-align:left}
|
|
th.halign-right,td.halign-right{text-align:right}
|
|
th.halign-center,td.halign-center{text-align:center}
|
|
th.valign-top,td.valign-top{vertical-align:top}
|
|
th.valign-bottom,td.valign-bottom{vertical-align:bottom}
|
|
th.valign-middle,td.valign-middle{vertical-align:middle}
|
|
table thead th,table tfoot th{font-weight:bold}
|
|
tbody tr th{display:table-cell;line-height:1.6;background:#f7f8f7}
|
|
tbody tr th,tbody tr th p,tfoot tr th,tfoot tr th p{color:rgba(0,0,0,.8);font-weight:bold}
|
|
p.tableblock>code:only-child{background:none;padding:0}
|
|
p.tableblock{font-size:1em}
|
|
ol{margin-left:1.75em}
|
|
ul li ol{margin-left:1.5em}
|
|
dl dd{margin-left:1.125em}
|
|
dl dd:last-child,dl dd:last-child>:last-child{margin-bottom:0}
|
|
ol>li p,ul>li p,ul dd,ol dd,.olist .olist,.ulist .ulist,.ulist .olist,.olist .ulist{margin-bottom:.625em}
|
|
ul.checklist,ul.none,ol.none,ul.no-bullet,ol.no-bullet,ol.unnumbered,ul.unstyled,ol.unstyled{list-style-type:none}
|
|
ul.no-bullet,ol.no-bullet,ol.unnumbered{margin-left:.625em}
|
|
ul.unstyled,ol.unstyled{margin-left:0}
|
|
ul.checklist{margin-left:.625em}
|
|
ul.checklist li>p:first-child>.fa-square-o:first-child,ul.checklist li>p:first-child>.fa-check-square-o:first-child{width:1.25em;font-size:.8em;position:relative;bottom:.125em}
|
|
ul.checklist li>p:first-child>input[type="checkbox"]:first-child{margin-right:.25em}
|
|
ul.inline{display:-ms-flexbox;display:-webkit-box;display:flex;-ms-flex-flow:row wrap;-webkit-flex-flow:row wrap;flex-flow:row wrap;list-style:none;margin:0 0 .625em -1.25em}
|
|
ul.inline>li{margin-left:1.25em}
|
|
.unstyled dl dt{font-weight:400;font-style:normal}
|
|
ol.arabic{list-style-type:decimal}
|
|
ol.decimal{list-style-type:decimal-leading-zero}
|
|
ol.loweralpha{list-style-type:lower-alpha}
|
|
ol.upperalpha{list-style-type:upper-alpha}
|
|
ol.lowerroman{list-style-type:lower-roman}
|
|
ol.upperroman{list-style-type:upper-roman}
|
|
ol.lowergreek{list-style-type:lower-greek}
|
|
.hdlist>table,.colist>table{border:0;background:none}
|
|
.hdlist>table>tbody>tr,.colist>table>tbody>tr{background:none}
|
|
td.hdlist1,td.hdlist2{vertical-align:top;padding:0 .625em}
|
|
td.hdlist1{font-weight:bold;padding-bottom:1.25em}
|
|
.literalblock+.colist,.listingblock+.colist{margin-top:-.5em}
|
|
.colist td:not([class]):first-child{padding:.4em .75em 0;line-height:1;vertical-align:top}
|
|
.colist td:not([class]):first-child img{max-width:none}
|
|
.colist td:not([class]):last-child{padding:.25em 0}
|
|
.thumb,.th{line-height:0;display:inline-block;border:solid 4px #fff;-webkit-box-shadow:0 0 0 1px #ddd;box-shadow:0 0 0 1px #ddd}
|
|
.imageblock.left{margin:.25em .625em 1.25em 0}
|
|
.imageblock.right{margin:.25em 0 1.25em .625em}
|
|
.imageblock>.title{margin-bottom:0}
|
|
.imageblock.thumb,.imageblock.th{border-width:6px}
|
|
.imageblock.thumb>.title,.imageblock.th>.title{padding:0 .125em}
|
|
.image.left,.image.right{margin-top:.25em;margin-bottom:.25em;display:inline-block;line-height:0}
|
|
.image.left{margin-right:.625em}
|
|
.image.right{margin-left:.625em}
|
|
a.image{text-decoration:none;display:inline-block}
|
|
a.image object{pointer-events:none}
|
|
sup.footnote,sup.footnoteref{font-size:.875em;position:static;vertical-align:super}
|
|
sup.footnote a,sup.footnoteref a{text-decoration:none}
|
|
sup.footnote a:active,sup.footnoteref a:active{text-decoration:underline}
|
|
#footnotes{padding-top:.75em;padding-bottom:.75em;margin-bottom:.625em}
|
|
#footnotes hr{width:20%;min-width:6.25em;margin:-.25em 0 .75em;border-width:1px 0 0}
|
|
#footnotes .footnote{padding:0 .375em 0 .225em;line-height:1.3334;font-size:.875em;margin-left:1.2em;margin-bottom:.2em}
|
|
#footnotes .footnote a:first-of-type{font-weight:bold;text-decoration:none;margin-left:-1.05em}
|
|
#footnotes .footnote:last-of-type{margin-bottom:0}
|
|
#content #footnotes{margin-top:-.625em;margin-bottom:0;padding:.75em 0}
|
|
.gist .file-data>table{border:0;background:#fff;width:100%;margin-bottom:0}
|
|
.gist .file-data>table td.line-data{width:99%}
|
|
div.unbreakable{page-break-inside:avoid}
|
|
.big{font-size:larger}
|
|
.small{font-size:smaller}
|
|
.underline{text-decoration:underline}
|
|
.overline{text-decoration:overline}
|
|
.line-through{text-decoration:line-through}
|
|
.aqua{color:#00bfbf}
|
|
.aqua-background{background:#00fafa}
|
|
.black{color:#000}
|
|
.black-background{background:#000}
|
|
.blue{color:#0000bf}
|
|
.blue-background{background:#0000fa}
|
|
.fuchsia{color:#bf00bf}
|
|
.fuchsia-background{background:#fa00fa}
|
|
.gray{color:#606060}
|
|
.gray-background{background:#7d7d7d}
|
|
.green{color:#006000}
|
|
.green-background{background:#007d00}
|
|
.lime{color:#00bf00}
|
|
.lime-background{background:#00fa00}
|
|
.maroon{color:#600000}
|
|
.maroon-background{background:#7d0000}
|
|
.navy{color:#000060}
|
|
.navy-background{background:#00007d}
|
|
.olive{color:#606000}
|
|
.olive-background{background:#7d7d00}
|
|
.purple{color:#600060}
|
|
.purple-background{background:#7d007d}
|
|
.red{color:#bf0000}
|
|
.red-background{background:#fa0000}
|
|
.silver{color:#909090}
|
|
.silver-background{background:#bcbcbc}
|
|
.teal{color:#006060}
|
|
.teal-background{background:#007d7d}
|
|
.white{color:#bfbfbf}
|
|
.white-background{background:#fafafa}
|
|
.yellow{color:#bfbf00}
|
|
.yellow-background{background:#fafa00}
|
|
span.icon>.fa{cursor:default}
|
|
a span.icon>.fa{cursor:inherit}
|
|
.admonitionblock td.icon [class^="fa icon-"]{font-size:2.5em;text-shadow:1px 1px 2px rgba(0,0,0,.5);cursor:default}
|
|
.admonitionblock td.icon .icon-note::before{content:"\f05a";color:#19407c}
|
|
.admonitionblock td.icon .icon-tip::before{content:"\f0eb";text-shadow:1px 1px 2px rgba(155,155,0,.8);color:#111}
|
|
.admonitionblock td.icon .icon-warning::before{content:"\f071";color:#bf6900}
|
|
.admonitionblock td.icon .icon-caution::before{content:"\f06d";color:#bf3400}
|
|
.admonitionblock td.icon .icon-important::before{content:"\f06a";color:#bf0000}
|
|
.conum[data-value]{display:inline-block;color:#fff!important;background:rgba(0,0,0,.8);-webkit-border-radius:100px;border-radius:100px;text-align:center;font-size:.75em;width:1.67em;height:1.67em;line-height:1.67em;font-family:"Open Sans","DejaVu Sans",sans-serif;font-style:normal;font-weight:bold}
|
|
.conum[data-value] *{color:#fff!important}
|
|
.conum[data-value]+b{display:none}
|
|
.conum[data-value]::after{content:attr(data-value)}
|
|
pre .conum[data-value]{position:relative;top:-.125em}
|
|
b.conum *{color:inherit!important}
|
|
.conum:not([data-value]):empty{display:none}
|
|
dt,th.tableblock,td.content,div.footnote{text-rendering:optimizeLegibility}
|
|
h1,h2,p,td.content,span.alt{letter-spacing:-.01em}
|
|
p strong,td.content strong,div.footnote strong{letter-spacing:-.005em}
|
|
p,blockquote,dt,td.content,span.alt{font-size:1.0625rem}
|
|
p{margin-bottom:1.25rem}
|
|
.sidebarblock p,.sidebarblock dt,.sidebarblock td.content,p.tableblock{font-size:1em}
|
|
.exampleblock>.content{background:#fffef7;border-color:#e0e0dc;-webkit-box-shadow:0 1px 4px #e0e0dc;box-shadow:0 1px 4px #e0e0dc}
|
|
.print-only{display:none!important}
|
|
@page{margin:1.25cm .75cm}
|
|
@media print{*{-webkit-box-shadow:none!important;box-shadow:none!important;text-shadow:none!important}
|
|
html{font-size:80%}
|
|
a{color:inherit!important;text-decoration:underline!important}
|
|
a.bare,a[href^="#"],a[href^="mailto:"]{text-decoration:none!important}
|
|
a[href^="http:"]:not(.bare)::after,a[href^="https:"]:not(.bare)::after{content:"(" attr(href) ")";display:inline-block;font-size:.875em;padding-left:.25em}
|
|
abbr[title]::after{content:" (" attr(title) ")"}
|
|
pre,blockquote,tr,img,object,svg{page-break-inside:avoid}
|
|
thead{display:table-header-group}
|
|
svg{max-width:100%}
|
|
p,blockquote,dt,td.content{font-size:1em;orphans:3;widows:3}
|
|
h2,h3,#toctitle,.sidebarblock>.content>.title{page-break-after:avoid}
|
|
#toc,.sidebarblock,.exampleblock>.content{background:none!important}
|
|
#toc{border-bottom:1px solid #dddddf!important;padding-bottom:0!important}
|
|
body.book #header{text-align:center}
|
|
body.book #header>h1:first-child{border:0!important;margin:2.5em 0 1em}
|
|
body.book #header .details{border:0!important;display:block;padding:0!important}
|
|
body.book #header .details span:first-child{margin-left:0!important}
|
|
body.book #header .details br{display:block}
|
|
body.book #header .details br+span::before{content:none!important}
|
|
body.book #toc{border:0!important;text-align:left!important;padding:0!important;margin:0!important}
|
|
body.book #toc,body.book #preamble,body.book h1.sect0,body.book .sect1>h2{page-break-before:always}
|
|
.listingblock code[data-lang]::before{display:block}
|
|
#footer{padding:0 .9375em}
|
|
.hide-on-print{display:none!important}
|
|
.print-only{display:block!important}
|
|
.hide-for-print{display:none!important}
|
|
.show-for-print{display:inherit!important}}
|
|
@media print,amzn-kf8{#header>h1:first-child{margin-top:1.25rem}
|
|
.sect1{padding:0!important}
|
|
.sect1+.sect1{border:0}
|
|
#footer{background:none}
|
|
#footer-text{color:rgba(0,0,0,.6);font-size:.9em}}
|
|
@media amzn-kf8{#header,#content,#footnotes,#footer{padding:0}}
|
|
</style>
|
|
</head>
|
|
<body class="article">
|
|
<div id="header">
|
|
<h1>3D Tracking with IMU</h1>
|
|
</div>
|
|
<div id="content">
|
|
<div class="sect3">
|
|
<h4 id="_πανεπιστημιο_δυτικησ_αττικησ">ΠΑΝΕΠΙΣΤΗΜΙΟ ΔΥΤΙΚΗΣ ΑΤΤΙΚΗΣ</h4>
|
|
|
|
</div>
|
|
<div class="sect3">
|
|
<h4 id="_διαδίκτυο_των_αντικειμένων">Διαδίκτυο των αντικειμένων</h4>
|
|
<div class="sect5">
|
|
<h6 id="_τσαμαντιώτης_ηρακλής_cs130004">Τσαμαντιώτης Ηρακλής cs130004</h6>
|
|
|
|
</div>
|
|
<div class="sect5">
|
|
<h6 id="_μπίνας_γεώργιος_cs130001">Μπίνας Γεώργιος cs130001</h6>
|
|
|
|
</div>
|
|
</div>
|
|
<div class="sect1">
|
|
<h2 id="_sensor_component">1. Sensor Component</h2>
|
|
<div class="sectionbody">
|
|
<div class="paragraph">
|
|
<p>Υλοποιήθηκε ένας αισθητήρας ο οποίος μπορεί να προσδεθεί στο πόδι ενός ανθρώπου και να παίρνει μετρήσεις καθώς περπατάει αυτό το άτομο. Χρησιμοποιούνται οι sensors Accelerometer, Gyroscope και Magnometer. Συνδέετε μέσω Bluetooth με ένα Raspberry στο οποίο στέλνει τα δεδομένα των μετρήσεων και το Raspberry τα αποθηκεύει σε μία MySQL βάση δεδομένων η οποία τρέχει στο Raspberry. Επίσης εκεί έχει σηκωθεί και ένας Apache Server για να μας παρέχει το front interface της εφαρμογής.</p>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>Τα υλικά που χρησιμοποιήθηκαν είναι τα εξής:</p>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>1.Waveshare 10 DOF IMU Sensor</p>
|
|
</div>
|
|
<div class="imageblock">
|
|
<div class="content">
|
|
<img src="images/Screenshot_1.jpg" alt="Screenshot 1">
|
|
</div>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>2.Arduino Nano</p>
|
|
</div>
|
|
<div class="imageblock">
|
|
<div class="content">
|
|
<img src="images/Screenshot_2.jpg" alt="Screenshot 2">
|
|
</div>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>3.Bluetooth HC-05</p>
|
|
</div>
|
|
<div class="imageblock">
|
|
<div class="content">
|
|
<img src="images/Screenshot_4.jpg" alt="Screenshot 4">
|
|
</div>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>4.Battery 7.4V 1000mah</p>
|
|
</div>
|
|
<div class="imageblock">
|
|
<div class="content">
|
|
<img src="images/Screenshot_5.jpg" alt="Screenshot 5">
|
|
</div>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>5.Raspberry Pi 3</p>
|
|
</div>
|
|
<div class="imageblock">
|
|
<div class="content">
|
|
<img src="images/Screenshot_3.jpg" alt="Screenshot 3">
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div class="sect1">
|
|
<h2 id="_συνδεσμολογία">2. Συνδεσμολογία</h2>
|
|
<div class="sectionbody">
|
|
<div class="paragraph">
|
|
<p>Η συνδεσμολογία έγινε όπως φαίνετε στο παρακάτω σχήμα:</p>
|
|
</div>
|
|
<div class="imageblock">
|
|
<div class="content">
|
|
<img src="images/Screenshot_9.jpg" alt="Screenshot 9">
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div class="sect1">
|
|
<h2 id="_λειτουργία_arduino_raspberry">3. Λειτουργία Arduino - Raspberry</h2>
|
|
<div class="sectionbody">
|
|
<div class="paragraph">
|
|
<p>Υλοποιήθηκε κώδικας για Arduino nano v3 ο οποίος παίρνει μετρήσεις από τον αισθητήρα waveshare 10 dof imu (-accelerometer x,y,z -magnometer x,y,z, -gyroscope x,y,z) και τα αποθηκεύει σε ένα array σε μορφή Json.
|
|
Στην συνέχεια τα δεδομένα αυτά αποστέλλονται μέσω Bluetooth στο Raspberry το οποίο με την σειρά του, τρέχοντας κώδικα που έχει γραφτεί για το Raspberry, διαβάζει τα δεδομένα, τα μετατρέπει από byte με την βοήθεια της str σε string(utf-8). To string αυτό το οποίο έχει δημιουργηθεί αποθηκεύεται στην βάση δεδομένων που τρέχει στο Raspberry. Στην αρχή του script το οποίο τρέχει για την ανάγνωση των δεδομένων από το Arduino ο χρήστης εισάγει το όνομα του test το οποίο θα εκτελέσει.</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div class="sect1">
|
|
<h2 id="_sketch_application">4. Sketch Application</h2>
|
|
<div class="sectionbody">
|
|
<div class="paragraph">
|
|
<p>Για την υλοποίηση του front end interface χρησιμοποιήθηκε η library p5.js.
|
|
Η p5.js είναι ένα μια JavaScript library βασισμένη στο Processing software sketchbook.
|
|
Χρησιμοποιώντας τις function που μας παρέχει μπορούμε να σχεδιάσουμε στον browser και να αλληλοεπιδράσουμε με άλλα html element.</p>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>Η ιδέα είναι πως έχουμε τα data που χρειαζόμαστε σε μία Database, εκεί τα αποθηκεύει το Raspberry όταν κάνουμε τις μετρήσεις μας, σηκώνουμε έναν Server (ο Apache έχει χρησιμοποιηθεί στην παρούσα εργασία) και τρέχουμε σε αυτόν την web εφαρμογή μας. Με αυτό τον τρόπο μπορούμε από οποιοδήποτε μηχάνημα το οποίο έχει browser και μπορεί να στείλει request στον server μας να δούμε τα αποτελέσματα των μετρήσεων που έχουμε κάνει με το 3d_tracking.</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div class="sect1">
|
|
<h2 id="_back_end">5. Back end</h2>
|
|
<div class="sectionbody">
|
|
<div class="paragraph">
|
|
<p>Η εφαρμογή παρέχει μία index.html page η οποία θα φορτώσει στον client όλα τα απαραίτητα αρχεία και θα σχεδιάσει το Sketch καθώς και ένα API το οποίο επιστρέφει τα δεδομένα εφόσον τα ζητήσουμε.</p>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>Οπότε έχουν γίνει Mount δυο URLs, το / to οποίο είναι η index σελίδα και το /getData.php το οποίο δέχεται Post Request με παράμετρο στο body το ‘’name’’ το οποίο πρέπει να έχει το όνομα του test το οποίο έχουμε δώσει όταν κάναμε τις μετρήσεις.</p>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>Σε αυτό το αρχείο υπάρχουν και τα στοιχεία για να συνδεθεί με την database και να πάρει τα δεδομένα.</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div class="sect1">
|
|
<h2 id="_front_end">6. Front end</h2>
|
|
<div class="sectionbody">
|
|
<div class="paragraph">
|
|
<p>Για την υλοποίηση του σχεδιαστικού μέρους γράφτηκαν τα παρακάτω αρχεία .js</p>
|
|
</div>
|
|
<div class="dlist">
|
|
<dl>
|
|
<dt class="hdlist1">Helper.js </dt>
|
|
<dd>
|
|
<p>Είναι ένα javascript object το οποίο παρέχει τις εξής μεθόδους</p>
|
|
<div class="olist arabic">
|
|
<ol class="arabic">
|
|
<li>
|
|
<p>fetchData(name) : Εκτελεί ένα Post request στον server με το όνομα του test που του έχουμε δώσει, φέρνει τα αποτελέσματα, τα ελέγχει ώστε να απορρίψει αυτά που δεν είναι σωστά και τα δημιουργεί και αποθηκεύει σε μία μεταβλητή του τα μετασχηματισμένα data σε ένα array από objects.</p>
|
|
</li>
|
|
<li>
|
|
<p>validateObj(obj): Ελέγχει ότι το object το οποίο δημιουργήθηκε από τα data είναι σωστό.</p>
|
|
</li>
|
|
<li>
|
|
<p>startSimulation(): Ξεκινάει το simulation.</p>
|
|
</li>
|
|
</ol>
|
|
</div>
|
|
</dd>
|
|
<dt class="hdlist1">2. sketch-2D.js </dt>
|
|
<dd>
|
|
<p>Είναι το αρχείο το οποίο καλεί τις function του p5.js και σχεδιάζει.
|
|
Περιέχει την class Bubble η οπόια είναι κάθε κύκλος που βλέπουμε στο sketch.
|
|
Την class DataObj η οποία είναι ένα object που περιέχει τις μετρήσεις από τους 3 sensors (accelerator, gyroscope and magnometer).
|
|
Την class SensorData η οποία χρησιμοποιείτε από την DataObj και αναπαριστά έναν sensor.
|
|
Την function transformJsonDataToObject() η οποία μετασχηματίζει όλα τα data που έχουμε αποθηκεύσει στο Helper σε DataObj.
|
|
Την function move() η οποία καλείτε σε κάθε frame γίνετε render και προσθέτει ένα νέο Bubble στο array με τα Bubbles που θα σχεδιαστούν.
|
|
Την function setup() η οποία αρχικοποιεί όλα τα δεδομένα ώστε να ξεκινήσει ένα νέο simulation
|
|
Την function draw() η οποία καλείτε από το p5.js και σχεδιάζει το sketch.</p>
|
|
</dd>
|
|
</dl>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>Η εφαρμογή όταν την τρέξει κάποιος είναι όπως στην παρακάτω εικόνα.</p>
|
|
</div>
|
|
<div class="imageblock">
|
|
<div class="content">
|
|
<img src="images/index_1.PNG" alt="index 1">
|
|
</div>
|
|
</div>
|
|
<div class="paragraph">
|
|
<p>Στο input πεδίο εισάγουμε το όνομα του test που θέλουμε να τρέξουμε και πατάμε το fetch data.
|
|
Όταν εμφανιστεί το μήνυμα το μήνυμα «Data for test: « testName» loaded! Τότε πατάμε το κουμπί Start Simulation για να ξεκινήσει ο σχεδιασμός.
|
|
Στη παρακάτω εικόνα βλέπουμε το σχέδιο από ένα simulation.</p>
|
|
</div>
|
|
<div class="imageblock">
|
|
<div class="content">
|
|
<img src="images/index_2.PNG" alt="index 2">
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div class="sect1">
|
|
<h2 id="_πηγαίος_κώδικας">7. Πηγαίος Κώδικας</h2>
|
|
<div class="sectionbody">
|
|
<div class="paragraph">
|
|
<p><a href="https://git.swarmlab.io:3000/cs130004/3D_Tracking_with_IMU" class="bare">https://git.swarmlab.io:3000/cs130004/3D_Tracking_with_IMU</a></p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div id="footer">
|
|
<div id="footer-text">
|
|
Last updated 2020-01-13 21:13:23 UTC
|
|
</div>
|
|
</div>
|
|
</body>
|
|
</html>
|