From 781540d3a8bfc7487e485b7071866de6688fbd1e Mon Sep 17 00:00:00 2001 From: Brunsmeier <2970937094@qq.com> Date: Fri, 10 Jul 2026 10:23:15 +0800 Subject: [PATCH] Add CSV plotting and episode recording functionality - Implemented `plot_data_csv.py` to read CSV files and generate plots for velocity and linear acceleration signals. - Created `record1.py` for recording ESP32 IMU data, DIN/DOUT states, and RealSense camera images into episodes. - Enhanced `ProviderWorldIMUVelocityEstimator` to include stationary detection logic, resetting velocity when stationary. - Updated `EpisodeWriter` to save episode data with timestamped filenames for better organization. --- data_csv/data-710.csv | 1581 +++++++++++++++ data_csv/data-710_1.csv | 1039 ++++++++++ data_csv/data1.csv | 1239 ++++++++++++ data_csv/data2.csv | 1132 +++++++++++ data_csv/data3.csv | 1242 ++++++++++++ data_csv/data4.csv | 980 +++++++++ data_csv/data_710_2.csv | 1139 +++++++++++ data_csv/data_710_3.csv | 2204 +++++++++++++++++++++ data_csv/data_neo.csv | 1867 +++++++++++++++++ data_csv/data_neo1.csv | 1630 +++++++++++++++ data_csv/data_unfiltered.csv | 988 +++++++++ data_csv/data_unfiltered2.csv | 1240 ++++++++++++ data_csv/episode_20260710_100733_data.csv | 806 ++++++++ plot_data_csv.py | 200 ++ record1.py | 975 +++++++++ record_episode.py | 23 +- 16 files changed, 18282 insertions(+), 3 deletions(-) create mode 100644 data_csv/data-710.csv create mode 100644 data_csv/data-710_1.csv create mode 100644 data_csv/data1.csv create mode 100644 data_csv/data2.csv create mode 100644 data_csv/data3.csv create mode 100644 data_csv/data4.csv create mode 100644 data_csv/data_710_2.csv create mode 100644 data_csv/data_710_3.csv create mode 100644 data_csv/data_neo.csv create mode 100644 data_csv/data_neo1.csv create mode 100644 data_csv/data_unfiltered.csv create mode 100644 data_csv/data_unfiltered2.csv create mode 100644 data_csv/episode_20260710_100733_data.csv create mode 100644 plot_data_csv.py 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+804,1783649269.71557,3164.59657455,36019,0,0,0,1,0,0,stop,-0.00439,0.00586,0.98486,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,, diff --git a/plot_data_csv.py b/plot_data_csv.py new file mode 100644 index 0000000..4ed1b0f --- /dev/null +++ b/plot_data_csv.py @@ -0,0 +1,200 @@ +import argparse +import csv +import os +from pathlib import Path + +os.environ.setdefault("MPLCONFIGDIR", "/tmp/matplotlib") + +import matplotlib.pyplot as plt + + +TARGET_GROUPS = { + "velocity": { + "vel_x_ms": ["vel_x_ms"], + "vel_y_ms": ["vel_y_ms"], + "vel_z_ms": ["vel_z_ms"], + }, + "lin_acc": { + "lin_acc_x_ms2": ["lin_acc_x_ms2", "lin_acc_xms2"], + "lin_acc_y_ms2": ["lin_acc_y_ms2", "lin_acc_yms2"], + "lin_acc_z_ms2": ["lin_acc_z_ms2", "lin_acc_zms2"], + }, +} + +TIME_CANDIDATES = ["t_monotonic", "t_wall", "t_esp_ms", "frame_id"] + + +def parse_args(): + parser = argparse.ArgumentParser( + description="Read CSV files from a folder and plot velocity/linear acceleration signals." + ) + parser.add_argument( + "--input-dir", + default="data_csv", + help="Directory containing CSV files (default: data_csv)", + ) + parser.add_argument( + "--output-dir", + default="png", + help="Directory to save output images (default: png)", + ) + parser.add_argument( + "--dpi", + type=int, + default=140, + help="Output image DPI (default: 140)", + ) + return parser.parse_args() + + +def pick_first_existing(header, candidates): + for name in candidates: + if name in header: + return name + return None + + +def to_float(value): + if value is None: + return float("nan") + text = str(value).strip() + if text == "": + return float("nan") + try: + return float(text) + except ValueError: + return float("nan") + + +def read_csv_data(csv_path): + with csv_path.open("r", encoding="utf-8", newline="") as f: + reader = csv.DictReader(f) + header = reader.fieldnames or [] + + time_col = pick_first_existing(header, TIME_CANDIDATES) + resolved = {} + for group in TARGET_GROUPS.values(): + for canonical_name, aliases in group.items(): + resolved[canonical_name] = pick_first_existing(header, aliases) + + rows = list(reader) + + if not rows: + return None + + x = [] + if time_col is None: + x = list(range(len(rows))) + x_label = "sample_index" + else: + raw_t = [to_float(r.get(time_col)) for r in rows] + t0 = raw_t[0] if raw_t else 0.0 + if time_col.endswith("_ms"): + x = [((v - t0) / 1000.0) for v in raw_t] + x_label = f"{time_col} (s, relative)" + else: + x = [(v - t0) for v in raw_t] + x_label = f"{time_col} (relative)" + + data = {} + for canonical_name, actual_name in resolved.items(): + if actual_name is None: + data[canonical_name] = None + else: + data[canonical_name] = [to_float(r.get(actual_name)) for r in rows] + + return { + "x": x, + "x_label": x_label, + "data": data, + "resolved": resolved, + } + + +def plot_one_csv(csv_path, output_dir, dpi): + parsed = read_csv_data(csv_path) + if parsed is None: + print(f"[SKIP] {csv_path.name}: empty file") + return False + + x = parsed["x"] + x_label = parsed["x_label"] + data = parsed["data"] + resolved = parsed["resolved"] + + has_velocity = any(data[name] is not None for name in TARGET_GROUPS["velocity"].keys()) + has_lin_acc = any(data[name] is not None for name in TARGET_GROUPS["lin_acc"].keys()) + + if not has_velocity and not has_lin_acc: + print(f"[SKIP] {csv_path.name}: no target columns found") + return False + + fig, axes = plt.subplots(2, 1, figsize=(12, 8), sharex=True) + fig.suptitle(f"Motion Signals - {csv_path.name}") + + ax_v, ax_a = axes + + for name in TARGET_GROUPS["velocity"].keys(): + series = data[name] + if series is not None: + ax_v.plot(x, series, label=name, linewidth=1.1) + + for name in TARGET_GROUPS["lin_acc"].keys(): + series = data[name] + if series is not None: + ax_a.plot(x, series, label=name, linewidth=1.1) + + ax_v.set_ylabel("velocity (m/s)") + ax_a.set_ylabel("linear acc (m/s^2)") + ax_a.set_xlabel(x_label) + + ax_v.grid(True, alpha=0.25) + ax_a.grid(True, alpha=0.25) + + if has_velocity: + ax_v.legend(loc="upper right") + else: + ax_v.text(0.5, 0.5, "No velocity columns", transform=ax_v.transAxes, ha="center", va="center") + + if has_lin_acc: + ax_a.legend(loc="upper right") + else: + ax_a.text(0.5, 0.5, "No linear-acc columns", transform=ax_a.transAxes, ha="center", va="center") + + missing = [k for k, v in resolved.items() if v is None] + if missing: + fig.text(0.01, 0.01, f"Missing columns: {', '.join(missing)}", fontsize=9) + + fig.tight_layout(rect=[0, 0.03, 1, 0.97]) + + output_dir.mkdir(parents=True, exist_ok=True) + out_path = output_dir / f"{csv_path.stem}_motion.png" + fig.savefig(out_path, dpi=dpi) + plt.close(fig) + + print(f"[OK] {csv_path.name} -> {out_path}") + return True + + +def main(): + args = parse_args() + input_dir = Path(args.input_dir) + output_dir = Path(args.output_dir) + + if not input_dir.exists() or not input_dir.is_dir(): + raise SystemExit(f"Input directory does not exist: {input_dir}") + + csv_files = sorted(input_dir.glob("*.csv")) + if not csv_files: + raise SystemExit(f"No CSV files found in: {input_dir}") + + ok_count = 0 + for csv_path in csv_files: + if plot_one_csv(csv_path, output_dir, args.dpi): + ok_count += 1 + + print(f"Finished. Generated charts for {ok_count}/{len(csv_files)} files.") + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/record1.py b/record1.py new file mode 100644 index 0000000..fd7e1fe --- /dev/null +++ b/record1.py @@ -0,0 +1,975 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +""" +record_episode.py + +PC-side episode recorder. + +Records: + - ESP32 IMU data: acc / gyro / angle / temperature + - ESP32 DIN state: GPIO25 / GPIO26 / GPIO27 / GPIO32 + - ESP32 DOUT logical state: GPIO18 / GPIO19 relay command state + - inferred scissor state: open / close / stop + - RealSense D405 RGB image + - RealSense D405 depth image + - Filtered IMU integrated velocity + +Default DIN mapping from ESP32 main.py: + DIN_PINS = (25, 26, 27, 32) + +Therefore: + din[0] = GPIO25 + din[1] = GPIO26 + din[2] = GPIO27 # already used as physical scissor switch + din[3] = GPIO32 + +Default recording trigger: + din[0] / GPIO25 + +Usage: + + Test ESP32 switch + CSV only: + python3 record_episode.py --port /dev/ttyUSB0 --no-camera + + Record with D405 RGB + depth: + python3 record_episode.py --port /dev/ttyUSB0 + + Use GPIO26 as record trigger: + python3 record_episode.py --port /dev/ttyUSB0 --record-din 1 +""" + +import argparse +import csv +import time +import math +from pathlib import Path +from datetime import datetime + +import cv2 +import numpy as np + +try: + import pyrealsense2 as rs +except ImportError: + rs = None + +from esp_bridge import ESP32Bridge + + +# ============================================================ +# Switch edge detector +# ============================================================ + +class SwitchChangeDetector: + """ + Detect any valid state change from a toggle switch. + + For a latching/toggle switch: + 1 -> 0 triggers once + 0 -> 1 triggers once + + This is different from a push button, where only "pressed" edge is used. + """ + + def __init__(self, debounce_s=0.25): + self.debounce_s = debounce_s + self.last_value = None + self.last_edge_time = 0.0 + + def update(self, raw_value): + now = time.monotonic() + + # First sample only initializes state. + # Do not trigger recording immediately when program starts. + if self.last_value is None: + self.last_value = raw_value + return False + + if raw_value == self.last_value: + return False + + if now - self.last_edge_time < self.debounce_s: + return False + + old_value = self.last_value + self.last_value = raw_value + self.last_edge_time = now + + print(f"[SWITCH CHANGE] {old_value} -> {raw_value}") + + return True + +# ============================================================ +# Switch level controller +# ============================================================ +class SwitchLevelController: + """ + Level-control recording switch. + + raw_value == active_value -> should record + raw_value != active_value -> should stop + + For your current requirement: + DIN0 = 1 -> REC + DIN0 = 0 -> IDLE + """ + + def __init__(self, active_value=1, debounce_s=0.25): + self.active_value = active_value + self.debounce_s = debounce_s + + self.last_raw_value = None + self.stable_value = None + self.last_change_time = 0.0 + + def update(self, raw_value): + now = time.monotonic() + + # First sample initializes stable state. + # If program starts while switch is already 1, it will start recording. + if self.last_raw_value is None: + self.last_raw_value = raw_value + self.stable_value = raw_value + return raw_value == self.active_value + + # Raw value changed. Start debounce timer. + if raw_value != self.last_raw_value: + self.last_raw_value = raw_value + self.last_change_time = now + return None + + # Raw value has remained the same. Accept it after debounce time. + if raw_value != self.stable_value: + if now - self.last_change_time >= self.debounce_s: + old_value = self.stable_value + self.stable_value = raw_value + print(f"[SWITCH LEVEL] {old_value} -> {self.stable_value}") + return self.stable_value == self.active_value + + return None + +# ============================================================ +# RealSense D405 camera +# ============================================================ + +class D405Camera: + def __init__( + self, + width=640, + height=480, + fps=30, + enable_depth=True, + warmup_frames=15, + ): + if rs is None: + raise RuntimeError( + "pyrealsense2 is not installed. " + "Install it or run with --no-camera." + ) + + self.width = width + self.height = height + self.fps = fps + self.enable_depth = enable_depth + self.warmup_frames = warmup_frames + + self.pipeline = rs.pipeline() + self.config = rs.config() + self.align = None + + def open(self): + self.config.enable_stream( + rs.stream.color, + self.width, + self.height, + rs.format.bgr8, + self.fps, + ) + + if self.enable_depth: + self.config.enable_stream( + rs.stream.depth, + self.width, + self.height, + rs.format.z16, + self.fps, + ) + self.align = rs.align(rs.stream.color) + + self.pipeline.start(self.config) + + # Warm up auto exposure. + for _ in range(self.warmup_frames): + self.pipeline.wait_for_frames() + + return self + + def read(self): + frames = self.pipeline.wait_for_frames() + + if self.enable_depth and self.align is not None: + frames = self.align.process(frames) + + color_frame = frames.get_color_frame() + if not color_frame: + return None, None + + color = np.asanyarray(color_frame.get_data()) + + depth = None + if self.enable_depth: + depth_frame = frames.get_depth_frame() + if depth_frame: + depth = np.asanyarray(depth_frame.get_data()) + + return color, depth + + def close(self): + try: + self.pipeline.stop() + except Exception: + pass + + def __enter__(self): + return self.open() + + def __exit__(self, exc_type, exc, tb): + self.close() + + +# ============================================================ +# Simple IMU velocity estimator Updated +# ============================================================ + +class ProviderWorldIMUVelocityEstimator: + """ + Provider-style gravity/support compensation + world-frame velocity integration. + + Pipeline: + 1. raw acc_body_g - gravity_body_g -> linear_acc_body_g + 2. estimate residual body-frame acceleration bias + 3. linear_acc_body_ms2 -> linear_acc_world_ms2 using R_body_to_world + 4. integrate velocity in world frame + + Output: + velocity_ms: world-frame velocity, unit m/s + linear_acc_ms2: world-frame linear acceleration, unit m/s^2 + acc_bias_ms2: body-frame residual acceleration bias, unit m/s^2 + """ + + def __init__( + self, + gravity_sign=1.0, + bias_seconds=1.0, + acc_deadband=0.10, + ): + self.gravity_sign = gravity_sign + self.bias_seconds = bias_seconds + self.acc_deadband = acc_deadband + + self.start_t_ms = None + self.last_t_ms = None + + self.bias_ready = False + self.bias_samples = [] + self.acc_bias_body_ms2 = np.zeros(3, dtype=float) + + self.v_world = np.zeros(3, dtype=float) + self.last_acc_world_ms2 = np.zeros(3, dtype=float) + + def reset(self): + self.start_t_ms = None + self.last_t_ms = None + + self.bias_ready = False + self.bias_samples = [] + self.acc_bias_body_ms2[:] = 0.0 + + self.v_world[:] = 0.0 + self.last_acc_world_ms2[:] = 0.0 + + def gravity_body_g(self, roll_deg, pitch_deg): + roll = math.radians(roll_deg) + pitch = math.radians(pitch_deg) + + g_x = -math.sin(pitch) + g_y = math.cos(pitch) * math.sin(roll) + g_z = math.cos(pitch) * math.cos(roll) + + return np.array([g_x, g_y, g_z], dtype=float) * self.gravity_sign + + def rot_body_to_world(self, roll_deg, pitch_deg, yaw_deg): + roll = math.radians(roll_deg) + pitch = math.radians(pitch_deg) + yaw = math.radians(yaw_deg) + + cr, sr = math.cos(roll), math.sin(roll) + cp, sp = math.cos(pitch), math.sin(pitch) + cy, sy = math.cos(yaw), math.sin(yaw) + + # R_body_to_world = Rz(yaw) @ Ry(pitch) @ Rx(roll) + return np.array([ + [cy * cp, cy * sp * sr - sy * cr, cy * sp * cr + sy * sr], + [sy * cp, sy * sp * sr + cy * cr, sy * sp * cr - cy * sr], + [-sp, cp * sr, cp * cr], + ], dtype=float) + + def update(self, packet): + t_ms = packet["t_ms"] + + if self.start_t_ms is None: + self.start_t_ms = t_ms + + acc_body_g = np.array(packet["acc_g"], dtype=float) + + roll_deg = packet["angle_deg"][0] + pitch_deg = packet["angle_deg"][1] + yaw_deg = packet["angle_deg"][2] + + # ---------------- gravity/support removal in body frame ---------------- + gravity_g = self.gravity_body_g( + roll_deg=roll_deg, + pitch_deg=pitch_deg, + ) + + linear_acc_body_g_raw = acc_body_g - gravity_g + linear_acc_body_ms2_raw = linear_acc_body_g_raw * 9.80665 + + elapsed_s = ((t_ms - self.start_t_ms) & 0xFFFFFFFF) / 1000.0 + + # ---------------- bias estimation in body frame ---------------- + # During this period, velocity stays zero. + if not self.bias_ready: + self.bias_samples.append(linear_acc_body_ms2_raw.copy()) + + if elapsed_s >= self.bias_seconds: + if self.bias_samples: + self.acc_bias_body_ms2 = np.mean( + np.array(self.bias_samples, dtype=float), + axis=0, + ) + + self.bias_ready = True + print( + "[IMU] Provider body-frame acc bias estimated: " + f"{self.acc_bias_body_ms2}" + ) + + self.last_t_ms = t_ms + self.last_acc_world_ms2[:] = 0.0 + + return { + "gravity_g": gravity_g.copy(), + "linear_acc_ms2": self.last_acc_world_ms2.copy(), + "velocity_ms": self.v_world.copy(), + "acc_bias_ms2": self.acc_bias_body_ms2.copy(), + "bias_ready": self.bias_ready, + } + + # ---------------- remove body-frame residual bias ---------------- + linear_acc_body_ms2 = linear_acc_body_ms2_raw - self.acc_bias_body_ms2 + # linear_acc_body_ms2 = linear_acc_body_ms2_raw + # ---------------- deadband before rotation ---------------- + # Norm is unchanged by pure rotation, so before/after rotation both okay. + # if np.linalg.norm(linear_acc_body_ms2) < self.acc_deadband: + # linear_acc_body_ms2[:] = 0.0 + + # ---------------- body frame -> world frame ---------------- + R_bw = self.rot_body_to_world( + roll_deg=roll_deg, + pitch_deg=pitch_deg, + yaw_deg=yaw_deg, + ) + + linear_acc_world_ms2 = R_bw @ linear_acc_body_ms2 + + # ---------------- dt ---------------- + delta_ms = (t_ms - self.last_t_ms) & 0xFFFFFFFF + self.last_t_ms = t_ms + + if 0 < delta_ms <= 200: + dt = delta_ms / 1000.0 + self.v_world += linear_acc_world_ms2 * dt + + self.last_acc_world_ms2 = linear_acc_world_ms2.copy() + + return { + "gravity_g": gravity_g.copy(), + "linear_acc_ms2": self.last_acc_world_ms2.copy(), + "velocity_ms": self.v_world.copy(), + "acc_bias_ms2": self.acc_bias_body_ms2.copy(), + "bias_ready": self.bias_ready, + } + + +# ============================================================ +# Scissor state +# ============================================================ + +def infer_scissor_state(packet): + """ + DOUT logical mapping: + + dout[0] = GPIO18 = relay IN1 + dout[1] = GPIO19 = relay IN2 + + Hardware behavior: + IN1 active -> CLOSE + IN2 active -> OPEN + + Important: + packet["dout"] comes from ESP32 dout_shadow. + It is a logical active state, not the raw GPIO voltage. + """ + + dout0 = packet["dout"][0] + dout1 = packet["dout"][1] + + if dout0 == 1 and dout1 == 0: + return "close" + + if dout0 == 0 and dout1 == 1: + return "open" + + if dout0 == 0 and dout1 == 0: + return "stop" + + return "invalid_both_active" + + + +# ============================================================ +# Episode writer +# ============================================================ + +class EpisodeWriter: + def __init__( + self, + root_dir="dataset", + save_rgb=True, + save_depth=True, + jpeg_quality=95, + flush_every=10, + ): + self.root_dir = Path(root_dir) + self.save_rgb = save_rgb + self.save_depth = save_depth + self.jpeg_quality = jpeg_quality + self.flush_every = flush_every + + self.root_dir.mkdir(parents=True, exist_ok=True) + + self.recording = False + + self.episode_dir = None + self.rgb_dir = None + self.depth_dir = None + + self.csv_file = None + self.writer = None + + self.frame_id = 0 + + def start(self): + if self.recording: + return + + episode_name = "episode_" + datetime.now().strftime("%Y%m%d_%H%M%S") + self.episode_dir = self.root_dir / episode_name + + self.rgb_dir = self.episode_dir / "rgb" + self.depth_dir = self.episode_dir / "depth" + + self.episode_dir.mkdir(parents=True, exist_ok=True) + + if self.save_rgb: + self.rgb_dir.mkdir(parents=True, exist_ok=True) + + if self.save_depth: + self.depth_dir.mkdir(parents=True, exist_ok=True) + + csv_path = self.episode_dir / "data.csv" + self.csv_file = open(csv_path, "w", newline="", encoding="utf-8") + + fieldnames = [ + "frame_id", + + "t_wall", + "t_monotonic", + "t_esp_ms", + + "din0_gpio25_record_switch", + "din1_gpio26", + "din2_gpio27_scissor_switch", + "din3_gpio32", + + "dout0_gpio18_in1", + "dout1_gpio19_in2", + "scissor_state", + + "acc_x_g", + "acc_y_g", + "acc_z_g", + + "gyro_x_dps", + "gyro_y_dps", + "gyro_z_dps", + + "angle_x_deg", + "angle_y_deg", + "angle_z_deg", + + "temp_c", + + "vel_x_ms", + "vel_y_ms", + "vel_z_ms", + + "lin_acc_x_ms2", + "lin_acc_y_ms2", + "lin_acc_z_ms2", + + "acc_bias_x_ms2", + "acc_bias_y_ms2", + "acc_bias_z_ms2", + + "bias_ready", + + "rgb_path", + "depth_path", + ] + + self.writer = csv.DictWriter(self.csv_file, fieldnames=fieldnames) + self.writer.writeheader() + + self.frame_id = 0 + self.recording = True + + print(f"[REC START] {self.episode_dir}") + + def stop(self): + if not self.recording: + return + + self.recording = False + + if self.csv_file is not None: + self.csv_file.flush() + self.csv_file.close() + + print(f"[REC STOP] {self.episode_dir}") + + self.csv_file = None + self.writer = None + + self.episode_dir = None + self.rgb_dir = None + self.depth_dir = None + + self.frame_id = 0 + + def toggle(self): + if self.recording: + self.stop() + else: + self.start() + + def write(self, packet, imu_state, color_image=None, depth_image=None): + if not self.recording: + return + + rgb_rel = "" + depth_rel = "" + + if self.save_rgb and color_image is not None: + rgb_name = f"{self.frame_id:06d}.jpg" + rgb_path = self.rgb_dir / rgb_name + + ok = cv2.imwrite( + str(rgb_path), + color_image, + [int(cv2.IMWRITE_JPEG_QUALITY), int(self.jpeg_quality)], + ) + + if ok: + rgb_rel = "rgb/" + rgb_name + + if self.save_depth and depth_image is not None: + depth_name = f"{self.frame_id:06d}.png" + depth_path = self.depth_dir / depth_name + + ok = cv2.imwrite(str(depth_path), depth_image) + + if ok: + depth_rel = "depth/" + depth_name + + row = { + "frame_id": self.frame_id, + + "t_wall": time.time(), + "t_monotonic": time.monotonic(), + "t_esp_ms": packet["t_ms"], + + "din0_gpio25_record_switch": packet["din"][0], + "din1_gpio26": packet["din"][1], + "din2_gpio27_scissor_switch": packet["din"][2], + "din3_gpio32": packet["din"][3], + + "dout0_gpio18_in1": packet["dout"][0], + "dout1_gpio19_in2": packet["dout"][1], + "scissor_state": infer_scissor_state(packet), + + "acc_x_g": packet["acc_g"][0], + "acc_y_g": packet["acc_g"][1], + "acc_z_g": packet["acc_g"][2], + + "gyro_x_dps": packet["gyro_dps"][0], + "gyro_y_dps": packet["gyro_dps"][1], + "gyro_z_dps": packet["gyro_dps"][2], + + "angle_x_deg": packet["angle_deg"][0], + "angle_y_deg": packet["angle_deg"][1], + "angle_z_deg": packet["angle_deg"][2], + + "temp_c": packet["temp_c"], + + "vel_x_ms": float(imu_state["velocity_ms"][0]), + "vel_y_ms": float(imu_state["velocity_ms"][1]), + "vel_z_ms": float(imu_state["velocity_ms"][2]), + + "lin_acc_x_ms2": float(imu_state["linear_acc_ms2"][0]), + "lin_acc_y_ms2": float(imu_state["linear_acc_ms2"][1]), + "lin_acc_z_ms2": float(imu_state["linear_acc_ms2"][2]), + + "acc_bias_x_ms2": float(imu_state["acc_bias_ms2"][0]), + "acc_bias_y_ms2": float(imu_state["acc_bias_ms2"][1]), + "acc_bias_z_ms2": float(imu_state["acc_bias_ms2"][2]), + + "bias_ready": int(imu_state["bias_ready"]), + + "rgb_path": rgb_rel, + "depth_path": depth_rel, + } + + self.writer.writerow(row) + + self.frame_id += 1 + + if self.flush_every > 0 and self.frame_id % self.flush_every == 0: + self.csv_file.flush() + + +# ============================================================ +# Main recorder +# ============================================================ + +def run(args): + if args.record_din == 2: + print( + "[WARNING] You selected din[2] / GPIO27 as recording trigger. " + "But GPIO27 is already used as physical scissor switch." + ) + +# record_switch = SwitchChangeDetector( +# debounce_s=args.debounce, +# ) +#in case we need this former switch change detector, we can keep it here for reference. But the level controller is more suitable for this use case. + record_switch = SwitchLevelController( + active_value=args.record_active_value, + debounce_s=args.debounce, + ) +# velocity_estimator = ProviderIMUVelocityEstimator( +# gravity_sign=args.gravity_sign, +# bias_seconds=args.bias_seconds, +# acc_deadband=args.acc_deadband, +# vel_decay=args.velocity_decay, +# ) + velocity_estimator = ProviderWorldIMUVelocityEstimator( + gravity_sign=args.gravity_sign, + bias_seconds=args.bias_seconds, + acc_deadband=args.acc_deadband, + ) + + writer = EpisodeWriter( + root_dir=args.dataset, + save_rgb=not args.no_rgb, + save_depth=not args.no_depth, + jpeg_quality=args.jpeg_quality, + flush_every=args.flush_every, + ) + + camera = None + + try: + if args.no_camera: + print("[CAMERA] disabled by --no-camera.") + else: + camera = D405Camera( + width=args.width, + height=args.height, + fps=args.fps, + enable_depth=not args.no_depth, + warmup_frames=args.camera_warmup, + ) + camera.open() + print("[CAMERA] D405 opened.") + + with ESP32Bridge( + port=args.port, + baud=args.baud, + startup_wait=args.startup_wait, + safe_stop_on_close=False, + ) as bridge: + + print(f"[ESP32] Reading {args.port} at {args.baud} baud.") + print( + "[SWITCH] record trigger: " + f"din[{args.record_din}], " + f"mode=level-control, " + f"active_value={args.record_active_value}, " + f"debounce={args.debounce}s" + ) + print( + f"[INFO] DIN[{args.record_din}]={args.record_active_value} -> REC, " + f"DIN[{args.record_din}]!={args.record_active_value} -> IDLE." + ) + print("[INFO] Ctrl+C to exit.") + + packet_count = 0 + last_status_t = time.monotonic() + + while True: + packet, drained = bridge.read_latest_packet() + packet_count += 1 + drained + serial_waiting = bridge.ser.in_waiting if bridge.ser is not None else -1 + raw_record_value = packet["din"][args.record_din] + + desired_recording = record_switch.update(raw_record_value) + + if desired_recording is not None: + if desired_recording and not writer.recording: + writer.start() + velocity_estimator.reset() + + elif not desired_recording and writer.recording: + writer.stop() + + imu_state = velocity_estimator.update(packet) + color_image = None + depth_image = None + + if writer.recording and camera is not None: + color_image, depth_image = camera.read() + + writer.write( + packet=packet, + imu_state=imu_state, + color_image=color_image, + depth_image=depth_image, + ) + + now = time.monotonic() + if now - last_status_t >= args.status_period: + last_status_t = now + + rec_state = "REC" if writer.recording else "IDLE" + + print( + f"[{rec_state}] " + f"packets={packet_count} " + f"DIN={packet['din']} " + f"DOUT={packet['dout']} " + f"scissor={infer_scissor_state(packet)} " + f"frames={writer.frame_id} " + f"drained={drained} " + f"serial_waiting={serial_waiting}" + ) + + except KeyboardInterrupt: + print("\n[EXIT] Interrupted by user.") + + finally: + writer.stop() + + if camera is not None: + camera.close() + print("[CAMERA] closed.") + + +def parse_args(): + parser = argparse.ArgumentParser( + description="Record ESP32 IMU/DIN/DOUT + D405 RGB/depth into episodes." + ) + + parser.add_argument( + "--port", + required=True, + help="ESP32 serial port, for example /dev/ttyUSB0", + ) + + parser.add_argument( + "--baud", + type=int, + default=115200, + help="ESP32 USB serial baudrate.", + ) + + parser.add_argument( + "--dataset", + default="dataset", + help="Output dataset root directory.", + ) + + parser.add_argument( + "--record-din", + type=int, + default=0, + choices=[0, 1, 2, 3], + help=( + "DIN index used as record start/stop switch. " + "DIN_PINS=(25,26,27,32). " + "0=GPIO25, 1=GPIO26, 2=GPIO27, 3=GPIO32. " + "GPIO27/din2 is already used as scissor physical switch, " + "so default is din0/GPIO25." + ), + ) + + parser.add_argument( + "--record-active-value", + type=int, + default=1, + choices=[0, 1], + help="Record when selected DIN equals this value. Default: 1, meaning DIN=1 records and DIN=0 stops.", + ) + + parser.add_argument( + "--active-low", + dest="active_low", + action="store_true", + default=True, + help="Record switch is low-level active. Default: True.", + ) + + parser.add_argument( + "--active-high", + dest="active_low", + action="store_false", + help="Use high-level active record switch.", + ) + + parser.add_argument( + "--debounce", + type=float, + default=0.25, + help="Record switch debounce time in seconds.", + ) + + parser.add_argument( + "--startup-wait", + type=float, + default=4.0, + help="Wait time after opening ESP32 serial port.", + ) + + parser.add_argument( + "--no-camera", + action="store_true", + help="Disable RealSense camera. Useful for testing DIN toggle and CSV only.", + ) + + parser.add_argument( + "--width", + type=int, + default=640, + help="RealSense color/depth width.", + ) + + parser.add_argument( + "--height", + type=int, + default=480, + help="RealSense color/depth height.", + ) + + parser.add_argument( + "--fps", + type=int, + default=30, + help="RealSense FPS.", + ) + + parser.add_argument( + "--camera-warmup", + type=int, + default=15, + help="Frames to discard after starting camera.", + ) + + parser.add_argument( + "--no-rgb", + action="store_true", + help="Do not save RGB images.", + ) + + parser.add_argument( + "--no-depth", + action="store_true", + help="Do not save depth images.", + ) + + parser.add_argument( + "--jpeg-quality", + type=int, + default=95, + help="JPEG quality for RGB image saving.", + ) + + # parser.add_argument( + # "--velocity-decay", + # type=float, + # default=0.995, + # help="Decay factor for simple raw IMU velocity integration.", + # ) + + parser.add_argument( + "--flush-every", + type=int, + default=10, + help="Flush CSV every N frames. Use 1 for safer but slower writing.", + ) + + parser.add_argument( + "--status-period", + type=float, + default=1.0, + help="Print status every N seconds.", + ) + + parser.add_argument( + "--gravity-sign", + type=float, + default=1.0, + choices=[1.0, -1.0], + help="Use +1 if horizontal static acc_z is about +1g; use -1 if about -1g.", +) + + parser.add_argument( + "--bias-seconds", + type=float, + default=1.0, + help="Use the first N seconds after episode start to estimate residual acceleration bias.", + ) + + parser.add_argument( + "--acc-deadband", + type=float, + default=0.10, + help="Set linear acceleration to zero if norm is below this value, unit m/s^2.", + ) + return parser.parse_args() + + +if __name__ == "__main__": + run(parse_args()) +# python3 record1.py --port /dev/ttyUSB0 --baud 115200 --record-din 0 --dataset dataset --no-camera \ No newline at end of file diff --git a/record_episode.py b/record_episode.py index d51deb6..8d81478 100644 --- a/record_episode.py +++ b/record_episode.py @@ -277,6 +277,9 @@ class ProviderWorldIMUVelocityEstimator: self.v_world = np.zeros(3, dtype=float) self.last_acc_world_ms2 = np.zeros(3, dtype=float) + self.stationary_count = 0 + self.stationary_count_required = 10 + self.gyro_deadband = 3.0 # deg/s def reset(self): self.start_t_ms = None @@ -288,6 +291,7 @@ class ProviderWorldIMUVelocityEstimator: self.v_world[:] = 0.0 self.last_acc_world_ms2[:] = 0.0 + self.stationary_count = 0 def gravity_body_g(self, roll_deg, pitch_deg): roll = math.radians(roll_deg) @@ -372,9 +376,20 @@ class ProviderWorldIMUVelocityEstimator: # ---------------- deadband before rotation ---------------- # Norm is unchanged by pure rotation, so before/after rotation both okay. - if np.linalg.norm(linear_acc_body_ms2) < self.acc_deadband: + gyro_body_dps = np.array(packet["gyro_dps"], dtype=float) + + acc_is_small = np.linalg.norm(linear_acc_body_ms2) < self.acc_deadband + gyro_is_small = np.linalg.norm(gyro_body_dps) < self.gyro_deadband + + if acc_is_small and gyro_is_small: + self.stationary_count += 1 linear_acc_body_ms2[:] = 0.0 + if self.stationary_count >= self.stationary_count_required: + self.v_world[:] = 0.0 + else: + self.stationary_count = 0 + # ---------------- body frame -> world frame ---------------- R_bw = self.rot_body_to_world( roll_deg=roll_deg, @@ -475,7 +490,9 @@ class EpisodeWriter: if self.recording: return - episode_name = "episode_" + datetime.now().strftime("%Y%m%d_%H%M%S") + episode_time = datetime.now().strftime("%Y%m%d_%H%M%S") + episode_name = f"episode_{episode_time}" + self.episode_dir = self.root_dir / episode_name self.rgb_dir = self.episode_dir / "rgb" @@ -489,7 +506,7 @@ class EpisodeWriter: if self.save_depth: self.depth_dir.mkdir(parents=True, exist_ok=True) - csv_path = self.episode_dir / "data.csv" + csv_path = self.episode_dir / f"episode_{episode_time}_data.csv" self.csv_file = open(csv_path, "w", newline="", encoding="utf-8") fieldnames = [