Source code of Inertial Motion Capture /Kinematics and its visualization

I am looking for an example of source code of Inertial Motion Capture/Kinematics and its visualization. Especially, I am interested in the example of a body of skeleton in 3D.

For examples:

I have been trying this with IMU 9DOFs + Arduino for the Inertial Motion Capture and Processing (+ OpenGL) for the visualization. I have looked for this long time, but I have not found any significant examples of source codes yet. Does anyone know such an example or the references which are well commented in details? If it is not in Processing, it may be a different language (Jave, C++, etc.), though. Thank you in advance.

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