/realsense-imu-test

(private) Testing realsense D435i IMU

Primary LanguageJupyter Notebook

Caprinae IMU test

23/may/2021

CSV recordings notes

  • There's always little trash at start and end of each file
  • Each step is 60cm (2B) or 30cm (1B).
  • Same path always. 1B have 18 steps, 2B have 9.
  • Starting foot is RIGHT. Filenames with L suffix (eg. 30L.csv) means starting with LEFT foot.

Recorded gait sequence

  1. (trash ~0.5s) turn from laptop to start position
  2. 9/18 steps
  3. full stop
  4. 180 turn
  5. full stop
  6. 9/18 steps
  7. full stop.
  8. (trash ~0.5s) turn toward laptop to stop check recording

CSV Catalog

30 == 30, 30L, 31...

Barefoot

30: 2B - normal gait
40: 1B - normal gait

Shoes

50: 2B - normal gait
60: 1B - normal gait

70: 2B - strong steps
80: 1B - strong steps, lean forward

90: 2B - slow gait, lean backwards
100: 1B - slow gait, lean backwards

110: 2B - fast gait
120: 1B - fast gait

Baseline recordings

All recordings are 10s long

static: no movement static_facing_down/up: no movement, camera rolled move30: move (approx) 30cm on toy car (manually pushed) move30_r30: (as above) and reverse 30cm drag30: drag over the table 30cm drag30_U: (as above) and U-Turn (180deg) and return drag40_U: (as above) 40cm