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feat(draft): update match

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This commit is contained in:
flandre 2025-06-10 22:08:12 +08:00
parent 66c0094fe2
commit b979dc9a68
1 changed files with 44 additions and 40 deletions
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84
draft/sync_time.py
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@ -34,12 +34,16 @@ robot_ts_map = {
}
device_device_list: list[int] = []
device_seq_list: list[int] = []
for k in device_host_arr:
seq, encoder, host_ts, device_deivce, buffer = b2t(
device_ts_map[k].open("rb").read(100)
)
device_device_list.append(device_deivce)
device_device_list.append(device_deivce * 1000)
device_seq_list.append(seq)
device_device_arr = np.array(device_device_list)
device_seq_arr = np.array(device_seq_list)
device_device_zero = device_device_arr[0]
robot_host_arr = np.array(sorted(robot_ts_map.keys()))
robot_device_arr = np.array([robot_ts_map[k]["device_ts"] for k in robot_host_arr])
camera_host_arr = np.array(sorted(camera_ts_map.keys()))
@ -81,49 +85,49 @@ print("device_host - robot_device", (device_host_diff - robot_device_diff) / 10*
print("device_host - camera_host", (device_host_diff - camera_host_diff) / 10**9)
print("device_deivce - robot_device", (device_deivce_diff - robot_device_diff) / 10**9)
device_device_cut = device_device_arr - device_device_zero
x = (device_host_arr - device_host_zero) / 10**9
y = np.zeros_like(x)
plt.scatter(x, y)
robot_device_cut = (
robot_device_arr[robot_host_id0 : robot_host_id1 + 1]
- robot_device_arr[robot_host_id0]
- robot_d0
)
x = (robot_host_arr[robot_host_id0 : robot_host_id1 + 1] - device_host_zero) / 10**9
y = np.zeros_like(x) + 1
plt.scatter(x, y)
camera_host_cut = (
camera_host_arr[camera_host_id0 : camera_host_id1 + 1] - device_host_zero
)
x = (camera_host_arr[camera_host_id0 : camera_host_id1 + 1] - device_host_zero) / 10**9
y = np.zeros_like(x) + 2
plt.scatter(x, y)
plt.show()
# x = (device_host_arr - device_host_zero) / 10**9
# y = np.zeros_like(x)
# plt.scatter(x, y)
# for i, a in enumerate(ass):
# x = (robot_host_arr[robot_host_id0 : robot_host_id1 + 1] - device_host_zero) / 10**9
# y = np.zeros_like(x) + 1
# plt.scatter(x, y)
# try:
# # a - func(a, list(robot_ts_map.keys()))
# print(i, a-func(a, list(robot_ts_map.keys())))
# except Exception:
# print(i,a)
# pass
# a = 174945200000000000
# print(func(a, list(robot_ts_map.keys())))
# x = camera_host_cut / 10**9
# y = np.zeros_like(x) + 2
# plt.scatter(x, y)
# print(ass[1766-1:1766+2])
# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749444627751252600].read_bytes())
# print(seq)
# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749442951214858600].read_bytes())
# print(seq)
# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749444583738329700].read_bytes())
# print(seq)
# x = device_device_cut / 10**9
# y = np.zeros_like(x) + 3
# plt.scatter(x, y)
# 1766 1749442951214858600
# 2271 1749442950915344400
# 2272 1749442950944313600
# 2273 1749442950961272400
# 2274 1749442950993404700
# 2275 1749442951056585700
# 2276 1749442951061834900
# 2277 1749442951119567900
# 2278 1749442951139249100
# 2279 1749442951144567800
# 2280 1749442951149875300
# 2281 1749442951169837900
# 2282 1749442951197964400
# x = robot_device_cut / 10**9
# y = np.zeros_like(x) + 4
# plt.scatter(x, y)
# plt.show()
for i, k in enumerate(device_device_cut):
res1, idx1, offset1 = match(k, robot_device_cut)
res2, idx2, offset2 = match(k, camera_host_cut)
r = robot_ts_map[robot_host_arr[idx1 + robot_host_id0]]
c = camera_ts_map[camera_host_arr[idx2 + camera_host_id0]]
print(
offset1 * 10**-9,
# (device_host_arr[i] - r["host_ts"]) * 10**-9,
offset2 * 10**-9,
# (device_host_arr[i] - camera_host_arr[idx2 + camera_host_id0]) * 10**-9,
)