feat(draft): sync time
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@ -1,119 +1,97 @@
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import matplotlib.pyplot as plt
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import json
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from pathlib import Path
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import itertools
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import matplotlib.pyplot as plt
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import numpy as np
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import numpy.typing as npt
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from flandre.utils.RfFrame import b2t
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rec_folder = Path(
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'/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/record2/')
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def match(a: int, b: npt.NDArray[np.int_]):
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arr = b.copy()
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arr -= a
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arr = np.abs(arr)
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argmin = np.argmin(arr)
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m: int = b[argmin]
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return m, argmin, a - m
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robot_folder = rec_folder / 'robot'
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device_folder = rec_folder / 'device'
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camera_folder = rec_folder / 'camera'
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device_ts_map = {int(file.stem): file for file in device_folder.glob('*.bin')}
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camera_ts_map = {int(file.stem): file for file in camera_folder.glob('*.jpg')}
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rec_folder = Path("/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/record2/")
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robot_ts_map = {int(k): v for k, v in json.loads(
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(rec_folder/'robot.json').read_text()).items()}
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robot_folder = rec_folder / "robot"
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device_folder = rec_folder / "device"
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camera_folder = rec_folder / "camera"
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device_host_arr = np.array(sorted(device_ts_map.keys()))
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device_ts_map = {int(file.stem): file for file in device_folder.glob("*.bin")}
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camera_ts_map = {int(file.stem): file for file in camera_folder.glob("*.jpg")}
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device_host_arr = np.array(sorted(device_ts_map.keys()))[100:-100]
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device_host_zero = device_host_arr[0]
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robot_ts_map = {
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int(k): v for k, v in json.loads((rec_folder / "robot.json").read_text()).items()
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}
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device_device_list: list[int] = []
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for k in device_host_arr:
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seq, encoder, host_ts, device_deivce, buffer = b2t(
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device_ts_map[k].open('rb').read(100))
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device_ts_map[k].open("rb").read(100)
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)
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device_device_list.append(device_deivce)
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device_device_arr = np.array(device_device_list)
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robot_host_arr = np.array(sorted(robot_ts_map.keys()))
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robot_device_arr = np.array([robot_ts_map[k]["device_ts"] for k in robot_host_arr])
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camera_host_arr = np.array(sorted(camera_ts_map.keys()))
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robot_host_arr = sorted(robot_ts_map.keys())
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device_host0 = device_host_arr[0]
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device_host1 = device_host_arr[-1]
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m0, robot_host_id0, robot_d0 = match(device_host0, robot_host_arr)
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robot_device0 = robot_ts_map[m0]["device_ts"]
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m1, robot_host_id1, robot_d1 = match(device_host1, robot_host_arr)
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robot_device1 = robot_ts_map[m1]["device_ts"]
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robot_device_arr = np.array([robot_ts_map[k]['device_ts']
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for k in robot_host_arr])
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def func(a: int, b: list[int]):
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"""
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Finds the largest number in list `b` that is less than or equal to `a`.
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Args:
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a: An integer.
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b: A list of integers.
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Returns:
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The largest number in `b` <= `a`, or None if no such number exists.
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"""
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# Create a new list containing only the numbers from b that are <= a
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arr = np.array(b)
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arr -= a
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arr = np.abs(arr)
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argmin = np.argmin(arr)
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m = b[argmin]
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return m, a-m
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# print(device_ts_map.__len__())
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# print(robot_ts_map.__len__())
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ass = sorted(list(device_ts_map.keys()))[500:-1500]
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device_host0 = ass[0]
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device_host1 = ass[-1]
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m0, robot_d0 = func(device_host0, sorted(list(robot_ts_map.keys())))
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robot_device0 = robot_ts_map[m0]['device_ts']
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m1, robot_d1 = func(device_host1, sorted(list(robot_ts_map.keys())))
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robot_device1 = robot_ts_map[m1]['device_ts']
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camera_host0, camera_d0 = func(
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device_host0, sorted(list(camera_ts_map.keys())))
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camera_host1, camera_d1 = func(
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device_host1, sorted(list(camera_ts_map.keys())))
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camera_host0, camera_host_id0, camera_d0 = match(device_host0, camera_host_arr)
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camera_host1, camera_host_id1, camera_d1 = match(device_host1, camera_host_arr)
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seq, encoder, host_ts, device_deivce0, buffer = b2t(
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device_ts_map[device_host0].read_bytes())
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device_ts_map[device_host0].read_bytes()
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)
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device_deivce0 *= 10**3
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seq, encoder, host_ts, device_deivce1, buffer = b2t(
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device_ts_map[device_host1].read_bytes())
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device_ts_map[device_host1].read_bytes()
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)
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device_deivce1 *= 10**3
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device_host_diff = device_host1-device_host0
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device_deivce_diff = device_deivce1-device_deivce0
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robot_device_diff = robot_device1-robot_device0
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device_host_diff = device_host1 - device_host0
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device_deivce_diff = device_deivce1 - device_deivce0
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robot_device_diff = robot_device1 - robot_device0
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camera_host_diff = camera_host1 - camera_host0
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print(robot_d0/10**9, robot_d1/10**9)
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print(camera_d0/10**9, camera_d1/10**9)
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print(robot_d0 / 10**9, robot_d1 / 10**9)
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print(camera_d0 / 10**9, camera_d1 / 10**9)
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print('device_host_diff', device_host_diff/10**9)
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print('device_deivce_diff', device_deivce_diff/10**9)
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print('robot_device_diff', robot_device_diff/10**9)
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print('camera_host_diff', camera_host_diff/10**9)
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print("device_host_diff", device_host_diff / 10**9)
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print("device_deivce_diff", device_deivce_diff / 10**9)
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print("robot_device_diff", robot_device_diff / 10**9)
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print("camera_host_diff", camera_host_diff / 10**9)
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print('device_host - device_deivce', (device_host_diff-device_deivce_diff)/10**9)
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print('device_host - robot_device', (device_host_diff-robot_device_diff)/10**9)
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print('device_host - camera_host', (device_host_diff-camera_host_diff)/10**9)
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print('device_deivce - robot_device',
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(device_deivce_diff-robot_device_diff)/10**9)
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print("device_host - device_deivce", (device_host_diff - device_deivce_diff) / 10**9)
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print("device_host - robot_device", (device_host_diff - robot_device_diff) / 10**9)
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print("device_host - camera_host", (device_host_diff - camera_host_diff) / 10**9)
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print("device_deivce - robot_device", (device_deivce_diff - robot_device_diff) / 10**9)
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x = np.array(list(device_ts_map.keys()))
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x = (device_host_arr - device_host_zero) / 10**9
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y = np.zeros_like(x)
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plt.scatter(x, y)
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x = np.array(list(robot_ts_map.keys()))
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y = np.zeros_like(x)+1
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x = (robot_host_arr[robot_host_id0 : robot_host_id1 + 1] - device_host_zero) / 10**9
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y = np.zeros_like(x) + 1
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plt.scatter(x, y)
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x = np.array(list(camera_ts_map.keys()))
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y = np.zeros_like(x)+2
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x = (camera_host_arr[camera_host_id0 : camera_host_id1 + 1] - device_host_zero) / 10**9
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y = np.zeros_like(x) + 2
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plt.scatter(x, y)
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plt.show()
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