Created
July 8, 2020 14:07
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| close all | |
| clear all | |
| path ='/home/mfallon/logs/newer/01_short_experiment/ground_truth/'; | |
| r = importdata([path 'registered_poses.csv']); | |
| s = importdata([path 'registered_poses_xyz_smoothed.csv']); | |
| r = r.data; | |
| s = s.data; | |
| rt = r(:,1) + r(:,2)*1e-9; | |
| rt = rt - rt(1); | |
| st = s(:,1) + s(:,2)*1e-9; | |
| st = st - st(1); | |
| % dimension selector: | |
| x=3 | |
| y=4 | |
| z=5 | |
| figure; | |
| hold on | |
| plot(r(:,x),r(:,y)) | |
| axis equal | |
| % % long | |
| % [a,idx] = min(abs(rt - 463.28)); | |
| % plot(r(idx,x),r(idx,y),'.r') | |
| % [a,idx] = min(abs(rt - 597.38)); | |
| % plot(r(idx,x),r(idx,y),'.r') | |
| % [a,idx] = min(abs(rt - 731.3)); | |
| % plot(r(idx,x),r(idx,y),'.r') | |
| % [a,idx] = min(abs(rt - 858.4)); | |
| % plot(r(idx,x),r(idx,y),'.r') | |
| % short | |
| [a,idx] = min(abs(rt - 127.4)); | |
| plot(r(idx,x),r(idx,y),'.r') | |
| [a,idx] = min(abs(rt - 758.8)); | |
| plot(r(idx,x),r(idx,y),'.r') | |
| [a,idx] = min(abs(rt - 1074)); | |
| plot(r(idx,x),r(idx,y),'.r') | |
| [a,idx] = min(abs(rt - 1454)); | |
| plot(r(idx,x),r(idx,y),'.r') | |
| % tool to rotate the trajectory | |
| if (1==0) | |
| [th,rr] = cart2pol( r(:,x), r(:,y)); | |
| th =th+1.29; | |
| [r(:,x), r(:,y)] = pol2cart( th, rr); | |
| [th,rr] = cart2pol( s(:,x), s(:,y)); | |
| th =th+1.29; | |
| [s(:,x), s(:,y)] = pol2cart( th, rr); | |
| sec hg g | |
| hold on | |
| plot(r(:,x),r(:,y),'.k') | |
| end | |
| % | |
| figure; | |
| d=x;subplot(3,1,1);hold on; plot(rt, r(:,d)); plot(st, s(:,d),'.r');ylabel('x') | |
| d=y;subplot(3,1,2);hold on; plot(rt, r(:,d)); plot(st, s(:,d),'.r');ylabel('y') | |
| d=z;subplot(3,1,3);hold on; plot(rt, r(:,d)); plot(st, s(:,d),'.r');ylabel(' z') | |
| xlabel('time [sec]') | |
| delta = [vecnorm(diff(r(:,[3,4,5])),2,2)]; | |
| velocity= delta./diff(rt); | |
| velocity_median = movmedian(velocity,40); | |
| figure; | |
| subplot(2,1,1); plot(rt(2:end),delta); xlabel('sec'); ylabel('delta in m') | |
| subplot(2,1,2); plot(rt(2:end),velocity); xlabel('sec'); ylabel('velocity in m/sec') | |
| hold on; plot(rt(2:end),velocity_median,'r'); |
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