harmishhk/ following-graphs

## following-graphs
# human-robot following graphs

## README.md

      
    Raw
  

              README.md
            
          
    human-robot following graphs

intended to use for ISER'15 paper
procedure to produce graphs


record a ros-bag file with tf topic
run the bag using, e.g. rosbag play test.bag
generate bag files for human and robot using, e.g. rosrun tf tf_csv test.bag /from /to > human.csv (ref)
you may need to cleanup csv files a bit, i.e. removing lines at start and at end
convet data using julia convert.jl
got to plotly, upload data and create 3d scattered plot!

example graph is here
to embed graph you can use template given in index.html file

  
## convert.jl
# read data
dh = readdlm("slow_fast_human.csv",',')
dr = readdlm("slow_fast_robot.csv",',')

# filter time
start_time = 1433867246 # you may need to change this
dhm = [dh[:,1]-start_time dh[:,2:end]]
drm = [dr[:,1]-start_time dr[:,2:end]]

# make both data have same number of rows,
#  you man need to change here as well
if size(dhm)[1] > size(drm)[1]
    dhm = dhm[size(dhm)[1]-size(drm)[1]+1:end,:]
else
    drm = drm[size(drm)[1]-size(dhm)[1]+1:end,:]
end

# combine data
drhm = hcat(drm[:,1:3], dhm[:,1:3])

# write combined data to a file
writecsv("drhm.csv", drhm)

## index.html
<!DOCTYPE html>
<html>
<head>
    <title>spencer speed tests</title>
    <meta charset="UTF-8">
    <script type="text/javascript">
        function newSrc() {
            var e = document.getElementById("plotSelectMenu");
            var newSrc = e.options[e.selectedIndex].value;
            document.getElementById("plotFrame").src=newSrc;
        }
    </script>
</head>
<body>
<center>
    <div>
        <select id="plotSelectMenu">
            <option value="https://plot.ly/~harmishhk/34.embed?width=1200&height=1000">slwo_fast</option>
            <!-- <option value="https://plot.ly/~harmishhk/34.embed?width=1200&height=1000">slwo_fast</option>
            <option value="https://plot.ly/~harmishhk/34.embed?width=1200&height=1000">slwo_fast</option> -->
        </select>
        <button type="button" onClick="newSrc();">load</button>
    </div>
    <div>
        <iframe id="plotFrame" width="1200" height="1000" frameborder="0" seamless="seamless" scrolling="no" src="https://plot.ly/~harmishhk/34.embed?width=1200&height=1000" ></iframe>
        <script data-plotly="harmishhk:34" src="https://plot.ly/embed.js" async></script>
    </div>
</center>
</body>
</html>
	# read data
	dh = readdlm("slow_fast_human.csv",',')
	dr = readdlm("slow_fast_robot.csv",',')

	# filter time
	start_time = 1433867246 # you may need to change this
	dhm = [dh[:,1]-start_time dh[:,2:end]]
	drm = [dr[:,1]-start_time dr[:,2:end]]

	# make both data have same number of rows,
	# you man need to change here as well
	if size(dhm)[1] > size(drm)[1]
	dhm = dhm[size(dhm)[1]-size(drm)[1]+1:end,:]
	else
	drm = drm[size(drm)[1]-size(dhm)[1]+1:end,:]
	end

	# combine data
	drhm = hcat(drm[:,1:3], dhm[:,1:3])

	# write combined data to a file
	writecsv("drhm.csv", drhm)
	<!DOCTYPE html>
	<html>
	<head>
	<title>spencer speed tests</title>
	<meta charset="UTF-8">
	<script type="text/javascript">
	function newSrc() {
	var e = document.getElementById("plotSelectMenu");
	var newSrc = e.options[e.selectedIndex].value;
	document.getElementById("plotFrame").src=newSrc;
	}
	</script>
	</head>
	<body>
	<center>
	<div>
	<select id="plotSelectMenu">
	<option value="https://plot.ly/~harmishhk/34.embed?width=1200&height=1000">slwo_fast</option>
	<!-- <option value="https://plot.ly/~harmishhk/34.embed?width=1200&height=1000">slwo_fast</option>
	<option value="https://plot.ly/~harmishhk/34.embed?width=1200&height=1000">slwo_fast</option> -->
	</select>
	<button type="button" onClick="newSrc();">load</button>
	</div>
	<div>
	<iframe id="plotFrame" width="1200" height="1000" frameborder="0" seamless="seamless" scrolling="no" src="https://plot.ly/~harmishhk/34.embed?width=1200&height=1000" ></iframe>
	<script data-plotly="harmishhk:34" src="https://plot.ly/embed.js" async></script>
	</div>
	</center>
	</body>
	</html>