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feat(draft): sync time

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flandre 2025-06-10 20:34:27 +08:00
parent d66626a441
commit c00e1bb6cf
1 changed files with 63 additions and 85 deletions
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122
draft/sync_time.py
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@ -1,87 +1,66 @@
import matplotlib.pyplot as plt
import json
from pathlib import Path
import itertools
import matplotlib.pyplot as plt
import numpy as np
import numpy.typing as npt
from flandre.utils.RfFrame import b2t
rec_folder = Path(
'/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/record2/')
def match(a: int, b: npt.NDArray[np.int_]):
arr = b.copy()
arr -= a
arr = np.abs(arr)
argmin = np.argmin(arr)
m: int = b[argmin]
return m, argmin, a - m
robot_folder = rec_folder / 'robot'
device_folder = rec_folder / 'device'
camera_folder = rec_folder / 'camera'
device_ts_map = {int(file.stem): file for file in device_folder.glob('*.bin')}
camera_ts_map = {int(file.stem): file for file in camera_folder.glob('*.jpg')}
rec_folder = Path("/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/record2/")
robot_ts_map = {int(k): v for k, v in json.loads(
(rec_folder/'robot.json').read_text()).items()}
robot_folder = rec_folder / "robot"
device_folder = rec_folder / "device"
camera_folder = rec_folder / "camera"
device_host_arr = np.array(sorted(device_ts_map.keys()))
device_ts_map = {int(file.stem): file for file in device_folder.glob("*.bin")}
camera_ts_map = {int(file.stem): file for file in camera_folder.glob("*.jpg")}
device_host_arr = np.array(sorted(device_ts_map.keys()))[100:-100]
device_host_zero = device_host_arr[0]
robot_ts_map = {
int(k): v for k, v in json.loads((rec_folder / "robot.json").read_text()).items()
}
device_device_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_ts_map[k].open("rb").read(100)
)
device_device_list.append(device_deivce)
device_device_arr = np.array(device_device_list)
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()))
robot_host_arr = sorted(robot_ts_map.keys())
device_host0 = device_host_arr[0]
device_host1 = device_host_arr[-1]
m0, robot_host_id0, robot_d0 = match(device_host0, robot_host_arr)
robot_device0 = robot_ts_map[m0]["device_ts"]
m1, robot_host_id1, robot_d1 = match(device_host1, robot_host_arr)
robot_device1 = robot_ts_map[m1]["device_ts"]
robot_device_arr = np.array([robot_ts_map[k]['device_ts']
for k in robot_host_arr])
def func(a: int, b: list[int]):
"""
Finds the largest number in list `b` that is less than or equal to `a`.
Args:
a: An integer.
b: A list of integers.
Returns:
The largest number in `b` <= `a`, or None if no such number exists.
"""
# Create a new list containing only the numbers from b that are <= a
arr = np.array(b)
arr -= a
arr = np.abs(arr)
argmin = np.argmin(arr)
m = b[argmin]
return m, a-m
# print(device_ts_map.__len__())
# print(robot_ts_map.__len__())
ass = sorted(list(device_ts_map.keys()))[500:-1500]
device_host0 = ass[0]
device_host1 = ass[-1]
m0, robot_d0 = func(device_host0, sorted(list(robot_ts_map.keys())))
robot_device0 = robot_ts_map[m0]['device_ts']
m1, robot_d1 = func(device_host1, sorted(list(robot_ts_map.keys())))
robot_device1 = robot_ts_map[m1]['device_ts']
camera_host0, camera_d0 = func(
device_host0, sorted(list(camera_ts_map.keys())))
camera_host1, camera_d1 = func(
device_host1, sorted(list(camera_ts_map.keys())))
camera_host0, camera_host_id0, camera_d0 = match(device_host0, camera_host_arr)
camera_host1, camera_host_id1, camera_d1 = match(device_host1, camera_host_arr)
seq, encoder, host_ts, device_deivce0, buffer = b2t(
device_ts_map[device_host0].read_bytes())
device_ts_map[device_host0].read_bytes()
)
device_deivce0 *= 10**3
seq, encoder, host_ts, device_deivce1, buffer = b2t(
device_ts_map[device_host1].read_bytes())
device_ts_map[device_host1].read_bytes()
)
device_deivce1 *= 10**3
device_host_diff = device_host1 - device_host0
@ -92,27 +71,26 @@ camera_host_diff = camera_host1 - camera_host0
print(robot_d0 / 10**9, robot_d1 / 10**9)
print(camera_d0 / 10**9, camera_d1 / 10**9)
print('device_host_diff', device_host_diff/10**9)
print('device_deivce_diff', device_deivce_diff/10**9)
print('robot_device_diff', robot_device_diff/10**9)
print('camera_host_diff', camera_host_diff/10**9)
print("device_host_diff", device_host_diff / 10**9)
print("device_deivce_diff", device_deivce_diff / 10**9)
print("robot_device_diff", robot_device_diff / 10**9)
print("camera_host_diff", camera_host_diff / 10**9)
print('device_host - device_deivce', (device_host_diff-device_deivce_diff)/10**9)
print('device_host - robot_device', (device_host_diff-robot_device_diff)/10**9)
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)
print("device_host - device_deivce", (device_host_diff - device_deivce_diff) / 10**9)
print("device_host - robot_device", (device_host_diff - robot_device_diff) / 10**9)
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)
x = np.array(list(device_ts_map.keys()))
x = (device_host_arr - device_host_zero) / 10**9
y = np.zeros_like(x)
plt.scatter(x, y)
x = np.array(list(robot_ts_map.keys()))
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)
x = np.array(list(camera_ts_map.keys()))
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()