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.
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Brunsmeier
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data_csv/data-710.csv
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data_csv/data-710_1.csv
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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
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|
||||
966,1783479003.5012105,5556.381282488,26537,0,0,1,1,0,0,stop,-0.03027,0.03467,0.9873,0.0,0.0,0.0,1.9666,1.7633,-138.1036,27.83,-0.2159592864971776,0.15808689105133517,-0.34954244117622296,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
967,1783479003.5211606,5556.401232883,26557,0,0,1,1,0,0,stop,-0.05518,0.02539,0.98438,0.0,0.2441,1.5869,1.9666,1.7688,-138.0981,27.9,-0.2134304004354354,0.1625176447953344,-0.34975450718999584,0.12644430308711002,0.22153768719996164,-0.010603300688645288,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
968,1783479003.5413103,5556.421382239,26577,0,0,1,1,0,0,stop,-0.02002,0.03467,0.99512,-0.3052,0.7324,0.5493,1.9666,1.7908,-137.9443,27.8,-0.21496726717452264,0.16094537491230862,-0.348013602002783,-0.076843336954361,-0.07861349415128904,0.08704525936064446,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
969,1783479003.5626187,5556.442690843,26598,0,0,1,1,0,0,stop,-0.03027,0.0332,0.9834,-0.061,0.0,0.0,1.9666,1.7853,-137.9388,27.9,-0.21496726717452264,0.16094537491230862,-0.348013602002783,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
970,1783479003.5820787,5556.46215088,26618,0,0,1,1,0,0,stop,-0.02979,0.03418,0.98633,0.0,0.0,0.0,1.9666,1.7798,-137.9388,27.9,-0.21496726717452264,0.16094537491230862,-0.348013602002783,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
971,1783479003.6022375,5556.482309684,26638,0,0,1,1,0,0,stop,-0.03076,0.03418,0.98535,-0.061,0.061,0.0,1.9666,1.7798,-137.9388,27.85,-0.21496726717452264,0.16094537491230862,-0.348013602002783,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
972,1783479003.622181,5556.502252895,26658,0,0,1,1,0,0,stop,-0.03027,0.03369,0.98535,-0.061,0.1221,0.0,1.9666,1.7798,-137.9388,27.87,-0.21496726717452264,0.16094537491230862,-0.348013602002783,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
973,1783479003.6423457,5556.522417961,26678,0,0,1,1,0,0,stop,-0.03076,0.03418,0.98584,-0.061,0.1221,0.0,1.9666,1.7798,-137.9388,27.87,-0.21496726717452264,0.16094537491230862,-0.348013602002783,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
974,1783479003.6623008,5556.542373055,26698,0,0,1,1,0,0,stop,-0.03076,0.03369,0.98682,-0.061,0.0,0.0,1.9611,1.7798,-137.9388,27.87,-0.21496726717452264,0.16094537491230862,-0.348013602002783,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
975,1783479003.6824143,5556.562486502,26718,0,0,1,1,0,0,stop,-0.02979,0.0332,0.98535,0.0,0.0,0.0,1.9611,1.7798,-137.9388,27.87,-0.21496726717452264,0.16094537491230862,-0.348013602002783,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
976,1783479003.70223,5556.58230218,26738,0,0,1,1,0,0,stop,-0.03076,0.03467,0.98633,-0.061,0.0,0.0,1.9611,1.7798,-137.9388,27.88,-0.21496726717452264,0.16094537491230862,-0.348013602002783,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
977,1783479003.7221715,5556.602243788,26758,0,0,1,1,0,0,stop,-0.03125,0.03418,0.98486,0.0,0.0,0.0,1.9611,1.7798,-137.9388,27.9,-0.21496726717452264,0.16094537491230862,-0.348013602002783,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
978,1783479003.7423227,5556.622394707,26778,0,0,1,1,0,0,stop,-0.03027,0.03467,0.98682,0.0,0.0,0.0,1.9611,1.7798,-137.9388,27.87,-0.21496726717452264,0.16094537491230862,-0.348013602002783,0.0,0.0,0.0,0.0031898980835773916,-0.006368553688547172,-0.12743496606766322,1,,
|
||||
|
1139
data_csv/data_710_2.csv
Normal file
1139
data_csv/data_710_2.csv
Normal file
File diff suppressed because it is too large
Load Diff
2204
data_csv/data_710_3.csv
Normal file
2204
data_csv/data_710_3.csv
Normal file
File diff suppressed because it is too large
Load Diff
1867
data_csv/data_neo.csv
Normal file
1867
data_csv/data_neo.csv
Normal file
File diff suppressed because it is too large
Load Diff
1630
data_csv/data_neo1.csv
Normal file
1630
data_csv/data_neo1.csv
Normal file
File diff suppressed because it is too large
Load Diff
988
data_csv/data_unfiltered.csv
Normal file
988
data_csv/data_unfiltered.csv
Normal file
@ -0,0 +1,988 @@
|
||||
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
|
||||
0,1783487212.9635434,13765.843615471,3657,1,0,1,1,0,0,stop,-0.00146,0.00488,0.98486,0.0,0.0,0.0,0.2692,0.1044,2.038,25.48,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
1,1783487212.9827743,13765.862846419,3677,1,0,1,1,0,0,stop,-0.00195,0.00439,0.98486,0.0,0.0,0.0,0.2692,0.1044,2.038,25.5,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
2,1783487213.002606,13765.882677968,3697,1,0,1,1,0,0,stop,-0.00293,0.00439,0.98584,0.0,0.0,0.0,0.2692,0.1044,2.038,25.48,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
3,1783487213.0225933,13765.902665334,3717,1,0,1,1,0,0,stop,-0.00244,0.00537,0.98486,0.0,0.0,0.0,0.2692,0.1099,2.038,25.55,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
4,1783487213.0425236,13765.922595682,3737,1,0,1,1,0,0,stop,-0.00146,0.00488,0.98584,0.0,0.0,0.0,0.2692,0.1099,2.038,25.52,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
5,1783487213.0628107,13765.942882728,3757,1,0,1,1,0,0,stop,-0.00146,0.00439,0.98633,0.0,0.0,0.0,0.2692,0.1099,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
6,1783487213.082765,13765.962837151,3777,1,0,1,1,0,0,stop,-0.00195,0.00488,0.98486,0.0,0.0,0.0,0.2692,0.1099,2.038,25.5,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
7,1783487213.102675,13765.98274719,3797,1,0,1,1,0,0,stop,-0.00244,0.00537,0.98486,0.0,0.0,0.0,0.2692,0.1099,2.038,25.5,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
8,1783487213.1226282,13766.0027002,3817,1,0,1,1,0,0,stop,-0.00195,0.00586,0.98535,0.0,0.0,0.0,0.2692,0.1099,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
9,1783487213.1427202,13766.022792406,3837,1,0,1,1,0,0,stop,-0.00195,0.00439,0.98535,0.0,0.0,0.0,0.2747,0.1099,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
10,1783487213.1626859,13766.042758171,3857,1,0,1,1,0,0,stop,-0.00146,0.00488,0.98486,0.0,0.0,0.0,0.2747,0.1099,2.038,25.45,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
11,1783487213.1826189,13766.062691013,3877,1,0,1,1,0,0,stop,-0.00244,0.00537,0.98486,0.0,0.0,0.0,0.2747,0.1099,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
12,1783487213.2026043,13766.082676455,3897,1,0,1,1,0,0,stop,-0.00146,0.00488,0.9873,0.0,0.0,0.0,0.2747,0.1099,2.038,25.52,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
13,1783487213.2228394,13766.102911412,3917,1,0,1,1,0,0,stop,-0.00195,0.00439,0.98389,0.0,0.061,0.0,0.2747,0.1044,2.038,25.5,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
14,1783487213.2427793,13766.122851127,3937,1,0,1,1,0,0,stop,-0.00195,0.00391,0.98633,0.0,0.0,0.0,0.2747,0.1044,2.038,25.5,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
15,1783487213.2626112,13766.142683278,3957,1,0,1,1,0,0,stop,-0.00146,0.00488,0.98584,0.0,0.0,0.0,0.2747,0.1044,2.038,25.5,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
16,1783487213.282666,13766.162738122,3977,1,0,1,1,0,0,stop,-0.00146,0.00439,0.98486,0.0,0.0,0.0,0.2747,0.1044,2.038,25.53,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
17,1783487213.302773,13766.182845136,3997,1,0,1,1,0,0,stop,-0.00195,0.00439,0.98584,0.0,0.0,0.0,0.2692,0.1044,2.038,25.45,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
18,1783487213.3227189,13766.202791033,4017,1,0,1,1,0,0,stop,-0.00146,0.00586,0.98535,0.0,0.0,0.0,0.2692,0.1044,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
19,1783487213.3426652,13766.222737481,4037,1,0,1,1,0,0,stop,-0.00195,0.00439,0.98486,0.0,0.0,0.0,0.2692,0.1044,2.038,25.55,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
20,1783487213.362706,13766.242778048,4057,1,0,1,1,0,0,stop,-0.00195,0.00488,0.98584,0.0,0.0,0.0,0.2747,0.1044,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
21,1783487213.3826663,13766.262738423,4077,1,0,1,1,0,0,stop,-0.00293,0.00537,0.98486,0.0,0.0,0.0,0.2692,0.1044,2.038,25.52,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
22,1783487213.4028275,13766.282899539,4097,1,0,1,1,0,0,stop,-0.00195,0.00488,0.98486,0.0,0.0,0.0,0.2692,0.1044,2.038,25.48,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
23,1783487213.4226298,13766.302702114,4117,1,0,1,1,0,0,stop,-0.00146,0.00439,0.98633,0.0,0.0,0.0,0.2747,0.1044,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
24,1783487213.4425187,13766.322590952,4137,1,0,1,1,0,0,stop,-0.00146,0.00439,0.98438,0.0,0.0,0.0,0.2692,0.1044,2.038,25.53,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
25,1783487213.4628026,13766.342874722,4157,1,0,1,1,0,0,stop,-0.00244,0.00488,0.98486,0.0,0.0,0.0,0.2692,0.1044,2.038,25.42,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
26,1783487213.4827225,13766.362794609,4177,1,0,1,1,0,0,stop,-0.00098,0.00439,0.98486,0.0,0.0,0.0,0.2692,0.1044,2.038,25.48,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
27,1783487213.5026553,13766.382727401,4197,1,0,1,1,0,0,stop,-0.00195,0.00488,0.98633,0.0,0.0,0.0,0.2692,0.1044,2.038,25.52,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
28,1783487213.5226166,13766.402688648,4217,1,0,1,1,0,0,stop,-0.00195,0.00586,0.98438,0.0,0.0,0.0,0.2747,0.1044,2.038,25.45,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
29,1783487213.5427036,13766.422775743,4237,1,0,1,1,0,0,stop,-0.00146,0.00488,0.98633,0.0,0.0,0.0,0.2747,0.1044,2.038,25.52,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
30,1783487213.5626357,13766.442707954,4257,1,0,1,1,0,0,stop,-0.00146,0.00439,0.98535,0.0,0.0,0.0,0.2747,0.1044,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
31,1783487213.5826032,13766.462675433,4277,1,0,1,1,0,0,stop,-0.00244,0.00488,0.98535,0.0,0.0,0.0,0.2747,0.1044,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
32,1783487213.602502,13766.48257421,4297,1,0,1,1,0,0,stop,-0.00195,0.00488,0.98633,0.0,0.0,0.0,0.2747,0.1044,2.038,25.53,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
33,1783487213.6227872,13766.502859462,4317,1,0,1,1,0,0,stop,-0.00195,0.00439,0.98535,0.0,0.0,0.0,0.2747,0.1044,2.038,25.53,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
34,1783487213.6427221,13766.522794208,4337,1,0,1,1,0,0,stop,-0.00146,0.00586,0.98486,0.0,0.0,0.0,0.2747,0.1044,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
35,1783487213.6626892,13766.542761296,4357,1,0,1,1,0,0,stop,-0.00146,0.00488,0.98535,0.0,0.0,0.0,0.2747,0.1044,2.038,25.5,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
36,1783487213.6826756,13766.5627478,4377,1,0,1,1,0,0,stop,-0.00146,0.00439,0.98486,0.0,0.0,0.0,0.2747,0.1044,2.038,25.53,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
37,1783487213.7026327,13766.582704778,4397,1,0,1,1,0,0,stop,-0.00195,0.00488,0.98584,0.0,0.0,0.0,0.2747,0.1044,2.038,25.45,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
38,1783487213.722513,13766.60258499,4417,1,0,1,1,0,0,stop,-0.00146,0.00439,0.98535,0.0,0.0,0.0,0.2747,0.1044,2.038,25.53,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
39,1783487213.7428002,13766.622872307,4437,1,0,1,1,0,0,stop,-0.00146,0.00391,0.98535,0.0,0.0,0.0,0.2747,0.1044,2.038,25.52,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
40,1783487213.7627485,13766.642820448,4457,1,0,1,1,0,0,stop,-0.00195,0.00439,0.98535,0.0,0.0,0.0,0.2747,0.1044,2.038,25.53,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
41,1783487213.7826655,13766.66273748,4477,1,0,1,1,0,0,stop,-0.00195,0.00439,0.98389,0.0,0.0,0.0,0.2747,0.1044,2.038,25.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
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948,1783487231.9260273,13784.806099427,22620,1,0,1,1,0,0,stop,-0.00146,-0.08936,0.98193,1.2207,-0.061,0.0,-5.2295,0.0824,-28.3722,25.75,-0.3820717956156508,-0.339878197629031,-0.1405157546198725,0.007697653351192836,0.015986425785096275,0.005187434531566193,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
949,1783487231.945963,13784.826034992,22640,1,0,1,1,0,0,stop,-0.00146,-0.08984,0.98145,-1.77,-0.061,0.0,-5.2295,0.0824,-28.3722,25.72,-0.3819665785737391,-0.33964845136633676,-0.14049717704652756,0.005260852095583324,0.011487313134710875,0.0009288786672474098,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
950,1783487231.9659152,13784.84598724,22660,1,0,1,1,0,0,stop,-0.00146,-0.09131,0.979,-0.7324,0.0,0.0,-5.257,0.0824,-28.3722,25.74,-0.3819745480850444,-0.33962691359206815,-0.14093083084277003,-0.00039847556526429167,0.0010768887134315498,-0.021682689812123485,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
951,1783487231.9858468,13784.865918958,22680,1,0,1,1,0,0,stop,-0.00098,-0.08887,0.98096,3.8452,-0.061,0.0,-5.235,0.0824,-28.3722,25.74,-0.38169182959050363,-0.3392662769970528,-0.14102547644812102,0.014135924727038323,0.01803182975076622,-0.004732280267549518,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
952,1783487232.0057898,13784.885861837,22700,1,0,1,1,0,0,stop,-0.00146,-0.0874,0.98291,0.0,0.0,0.0,-5.1801,0.0824,-28.3722,25.72,-0.381427902165878,-0.3387433940707048,-0.14076477797856987,0.01319637123128071,0.026144146317400564,0.013034923477557888,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
953,1783487232.0257368,13784.905808814,22720,1,0,1,1,0,0,stop,-0.00146,-0.08984,0.98145,-2.1973,0.0,0.0,-5.2075,0.0824,-28.3722,25.7,-0.38135847532932976,-0.3385799174904688,-0.1407461180472678,0.0034713418274118562,0.008173829011802258,0.0009329965651030008,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
954,1783487232.0458784,13784.925950611,22740,1,0,1,1,0,0,stop,-0.00146,-0.09033,0.98047,2.0752,0.0,0.0,-5.213,0.0824,-28.3722,25.72,-0.38133411095316216,-0.3384993259934917,-0.14091015915153984,0.001218218808380051,0.0040295748488545806,-0.008202055213602337,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
955,1783487232.0658176,13784.945889754,22760,1,0,1,1,0,0,stop,-0.00098,-0.08838,0.98438,0.1221,0.0,0.0,-5.1855,0.0824,-28.3722,25.75,-0.38105674869531114,-0.33815060346521736,-0.14034514484581193,0.013868112892551184,0.017436126413717785,0.028250715286395365,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
956,1783487232.0859241,13784.965996254,22780,1,0,1,1,0,0,stop,-0.00195,-0.08838,0.98096,-1.5869,0.0,0.0,-5.191,0.0824,-28.3722,25.72,-0.3809674945943012,-0.3377478041799937,-0.14044792301400824,0.004462705050497354,0.020139964261180615,-0.00513890840981626,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
957,1783487232.1060455,13784.986117673,22800,1,0,1,1,0,0,stop,-0.00098,-0.08984,0.98047,1.3428,0.0,0.0,-5.2075,0.0824,-28.3722,25.75,-0.38082376494288095,-0.33764428364088833,-0.140620815274672,0.007186482571010655,0.005176026955270312,-0.008644613033187969,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
958,1783487232.125989,13785.006060903,22820,1,0,1,1,0,0,stop,-0.00098,-0.08789,0.98242,-0.1221,0.0,0.0,-5.1801,0.0824,-28.3722,25.74,-0.3805267182250804,-0.33725792839965657,-0.14044728774998086,0.014852335890028328,0.01931776206158722,0.008676376234557154,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
959,1783487232.1459224,13785.025994454,22840,1,0,1,1,0,0,stop,-0.00146,-0.08936,0.98145,-1.0376,0.0,0.0,-5.1965,0.0824,-28.3722,25.72,-0.3804306442684063,-0.3370450860827953,-0.14043712424756455,0.004803697833705521,0.010642115843062011,0.000508175120815252,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
960,1783487232.1660376,13785.046109611,22860,1,0,1,1,0,0,stop,-0.00195,-0.09033,0.97998,0.6714,0.0,0.0,-5.2075,0.0824,-28.3722,25.77,-0.38050404614048833,-0.3369429872870774,-0.14069672852212928,-0.003670093604102531,0.005104939785896418,-0.01298021372823682,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
961,1783487232.1859972,13785.066069523,22880,1,0,1,1,0,0,stop,-0.00195,-0.08838,0.9834,0.7324,0.0,0.0,-5.1855,0.0824,-28.3722,25.78,-0.3804025772559275,-0.33651901353626196,-0.1403228640930625,0.0050734442280414346,0.021198687540771113,0.018693221453338855,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
962,1783487232.2059612,13785.086033292,22900,1,0,1,1,0,0,stop,-0.00098,-0.08887,0.98145,-0.6104,0.0,0.0,-5.1855,0.0824,-28.3722,25.72,-0.3801960914859544,-0.336299820694102,-0.14032148090800362,0.010324288498656655,0.010959642107997148,6.91592529441923e-05,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
963,1783487232.2258768,13785.10594891,22920,1,0,1,1,0,0,stop,-0.00146,-0.09033,0.98047,0.6104,0.0,0.0,-5.191,0.0824,-28.3722,25.75,-0.38020748407049626,-0.3362854371263992,-0.14048550478522615,-0.0005696292270939225,0.0007191783851409289,-0.008201193861126286,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
964,1783487232.2457983,13785.125870408,22940,1,0,1,1,0,0,stop,-0.00146,-0.08838,0.98145,0.9766,0.0,0.0,-5.1746,0.0824,-28.3722,25.7,-0.38005609245896377,-0.33597011595414306,-0.14049260221951756,0.007569580576623757,0.0157660586128053,-0.0003548717145706504,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
965,1783487232.2657459,13785.145817996,22960,1,0,1,1,0,0,stop,-0.00146,-0.08936,0.98242,-0.5493,0.0,0.0,-5.1746,0.0824,-28.3722,25.74,-0.3799872509462028,-0.3358082711048315,-0.14029289056286492,0.0034420756380480364,0.008092242465575633,0.009985582832632438,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
966,1783487232.2858503,13785.165922553,22980,1,0,1,1,0,0,stop,-0.00244,-0.08887,0.98047,-0.1831,-0.061,0.0,-5.1855,0.0769,-28.3722,25.72,-0.38005776924185797,-0.335459220077794,-0.14048254001629917,-0.0035259147827593133,0.017452551351875262,-0.009482472671712693,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
967,1783487232.3058147,13785.185886833,23000,1,0,1,1,0,0,stop,-0.00195,-0.08887,0.98145,0.6104,0.0,0.0,-5.1746,0.0824,-28.3722,25.72,-0.3800364103159497,-0.3351824522690115,-0.1404808314165412,0.001067946295412054,0.013838390439124926,8.542998789875118e-05,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
968,1783487232.3257594,13785.205831666,23020,1,0,1,1,0,0,stop,-0.00098,-0.08936,0.98242,0.0,0.0,0.0,-5.1746,0.0824,-28.3722,25.75,-0.37988473367818815,-0.3350653442763711,-0.1402812551529281,0.007583831888076712,0.005855399632021051,0.009978813180654727,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
969,1783487232.3457074,13785.225779585,23040,1,0,1,1,0,0,stop,-0.00098,-0.08936,0.98047,-0.1221,0.0,0.0,-5.1801,0.0769,-28.3722,25.78,-0.3797575427823749,-0.3349528378946881,-0.14046258701247413,0.006359544790662954,0.0056253190841475,-0.00906659297730182,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
970,1783487232.3660264,13785.246098749,23060,1,0,1,1,0,0,stop,-0.00146,-0.08887,0.98145,0.5493,0.0,0.0,-5.1691,0.0769,-28.3722,25.74,-0.3796771357576099,-0.3347293581328709,-0.14046099567852102,0.0040203512382474245,0.011173988090860378,7.95666976557475e-05,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
971,1783487232.385899,13785.265971115,23080,1,0,1,1,0,0,stop,-0.00195,-0.08838,0.98145,-0.061,0.0,0.0,-5.1691,0.0769,-28.3722,25.72,-0.37963581663391377,-0.33437598692198023,-0.14046793398987611,0.0020659561848075506,0.017668560544534723,-0.000346915567753982,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
972,1783487232.4060419,13785.286114024,23100,1,0,1,1,0,0,stop,-0.00098,-0.08984,0.98096,0.6104,0.0,0.0,-5.1636,0.0769,-28.3722,25.82,-0.379575763196777,-0.334388087178671,-0.14054504006754587,0.0030026718568399364,-0.0006050128345389423,-0.0038553038834874343,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
973,1783487232.425979,13785.306050902,23120,1,0,1,1,0,0,stop,-0.00098,-0.08789,0.98193,0.4272,0.0,0.0,-5.1471,0.0824,-28.3722,25.74,-0.3793366623227425,-0.3341087359870566,-0.14046698555025258,0.011955043701726079,0.013967559580720504,0.00390272586466381,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
974,1783487232.445896,13785.325968142,23140,0,0,1,1,0,0,stop,-0.00098,-0.08838,0.98242,-0.9155,0.0,0.0,-5.1636,0.0769,-28.3722,25.78,-0.3791285332915893,-0.33384739099059557,-0.1402846716117471,0.01040645155766078,0.013067249823052306,0.009115696925273824,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
975,1783487232.4658527,13785.345924808,23160,0,0,1,1,0,0,stop,-0.00098,-0.08887,0.98291,-0.3052,0.0,0.0,-5.1746,0.0769,-28.3722,25.77,-0.37894373484168825,-0.33362953971509146,-0.1399980431999855,0.009239922495052216,0.01089256377520555,0.01433142058808001,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
976,1783487232.485794,13785.365866085,23180,0,0,1,1,0,0,stop,0.00049,-0.09082,0.97754,0.4272,0.0,0.7324,-5.1801,0.0769,-28.3667,25.74,-0.37872365051590406,-0.3339502509307806,-0.14072623019685773,0.011004216289208257,-0.016035560784456927,-0.03640934984361156,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
977,1783487232.5059094,13785.385981552,23200,0,0,1,1,0,0,stop,0.00049,-0.09082,0.97559,7.0801,-0.3052,4.8218,-5.1086,0.0714,-28.3228,25.75,-0.37865209897935925,-0.3345063039759152,-0.14183569851743205,0.0035775768272396325,-0.027802652256728583,-0.05547341602871617,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
978,1783487232.525838,13785.405909864,23220,0,0,1,1,0,0,stop,-0.00195,-0.0791,0.98828,8.606,-0.4883,5.4321,-4.8834,0.0714,-28.2239,25.72,-0.37817791387999455,-0.3333079359748486,-0.14066365869793063,0.023709254968234644,0.05991840005333095,0.05860199097507188,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
979,1783487232.5457864,13785.425858504,23240,0,0,1,1,0,0,stop,-0.00439,-0.08447,0.98682,-3.1128,-0.2441,2.8687,-4.8669,0.0714,-28.147,25.74,-0.37866084270243044,-0.33287991440013376,-0.1396866258301017,-0.02414644112179333,0.021401078735741687,0.04885164339144719,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
980,1783487232.565892,13785.445964172,23260,0,0,1,1,0,0,stop,-0.00146,-0.08887,0.9751,-2.7466,0.0,0.4883,-4.9658,0.0714,-28.1305,25.74,-0.37897829596420046,-0.3333552918561429,-0.14092620905700617,-0.015872663088499876,-0.023768872800455025,-0.06197916134522439,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
981,1783487232.58586,13785.46593234,23280,0,0,1,1,0,0,stop,-0.00195,-0.08154,0.9834,5.6152,-0.061,0.1831,-4.8889,0.0769,-28.1305,25.82,-0.37874478538769496,-0.33264023590849834,-0.14066714052601448,0.011675528825274253,0.035752797382227745,0.012953426549584377,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
982,1783487232.6059883,13785.486060381,23300,0,0,1,1,0,0,stop,-0.00195,-0.08301,0.98584,-0.6104,-0.061,0.8545,-4.856,0.0769,-28.114,25.74,-0.37868031207135794,-0.33224254865879294,-0.13990642633721712,0.0032236658168516195,0.019884362485271347,0.038035709439867824,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
983,1783487232.626125,13785.506197099,23320,0,0,1,1,0,0,stop,-0.00049,-0.08447,0.97852,-1.77,0.0,0.061,-4.8889,0.0769,-28.1085,25.78,-0.3785037642539663,-0.332238741483358,-0.14055241257031328,0.008827390869581932,0.00019035877174639502,-0.03229931165480909,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
984,1783487232.6460276,13785.526099672,23340,0,0,1,1,0,0,stop,0.00098,-0.08154,0.98291,3.6621,0.0,-0.2441,-4.8505,0.0769,-28.1085,25.75,-0.3778295920619308,-0.3319175538258675,-0.14038942393570117,0.033708609601776934,0.01605938287452488,0.008149431730605368,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
985,1783487232.665949,13785.546021351,23360,0,0,1,1,0,0,stop,-0.00098,-0.08057,0.98682,2.5635,-0.061,1.8921,-4.79,0.0714,-28.0865,25.78,-0.3774886735780546,-0.33136579899472407,-0.13947707494368852,0.017045924193809944,0.027587741557173726,0.04561744960063249,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
986,1783487232.6858912,13785.565963238,23380,0,0,1,1,0,0,stop,-0.00049,-0.08301,0.97803,-5.7983,-0.061,0.4883,-4.845,0.0714,-28.0591,25.78,-0.37726887914286483,-0.331240488549186,-0.14024298566067583,0.01098972175948819,0.006265522276903481,-0.03829553584936541,0.0006168937881034737,0.0003295443335038513,-0.1431570097483059,1,,
|
||||
|
1240
data_csv/data_unfiltered2.csv
Normal file
1240
data_csv/data_unfiltered2.csv
Normal file
File diff suppressed because it is too large
Load Diff
806
data_csv/episode_20260710_100733_data.csv
Normal file
806
data_csv/episode_20260710_100733_data.csv
Normal file
@ -0,0 +1,806 @@
|
||||
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
|
||||
0,1783649253.633394,3148.514398507,19937,1,0,0,1,0,0,stop,-0.00684,0.00781,0.98438,-0.2441,0.0,7.0801,0.5273,0.2362,-1.8567,22.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
1,1783649253.6534066,3148.534411172,19958,1,0,0,1,0,0,stop,-0.00732,0.00928,0.98389,0.061,0.0,4.2114,0.5219,0.2362,-1.7468,22.55,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
2,1783649253.6726797,3148.55368404,19977,1,0,0,1,0,0,stop,0.00732,0.00342,0.98438,-0.1221,-0.1221,2.6855,0.5109,0.2307,-1.6644,22.49,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
|
||||
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41,1783649254.4529145,3149.33391905,20757,1,0,0,1,0,0,stop,-0.00439,0.00732,0.98486,0.061,0.0,0.0,0.434,0.1923,4.2023,22.55,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
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42,1783649254.4728777,3149.353882481,20777,1,0,0,1,0,0,stop,-0.00391,0.00732,0.98486,0.061,0.0,0.0,0.434,0.1923,4.2023,22.47,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,,
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50,1783649254.6331866,3149.514191364,20937,1,0,0,1,0,0,stop,-0.00391,0.00635,0.98438,0.061,0.0,0.1831,0.4285,0.2032,4.2407,22.55,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
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|
||||
776,1783649269.155396,3164.036400479,35459,1,0,0,1,0,0,stop,-0.00439,0.00586,0.98438,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.77,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
777,1783649269.1753476,3164.056352017,35479,1,0,0,1,0,0,stop,-0.00342,0.00586,0.98584,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
778,1783649269.1956055,3164.076610281,35499,1,0,0,1,0,0,stop,-0.00537,0.00586,0.98535,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
779,1783649269.2154005,3164.096404848,35519,1,0,0,1,0,0,stop,-0.00342,0.00635,0.98438,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.9,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
780,1783649269.2354865,3164.116491164,35539,1,0,0,1,0,0,stop,-0.00439,0.00684,0.98486,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
781,1783649269.2560813,3164.137085942,35559,1,0,0,1,0,0,stop,-0.00391,0.00586,0.98486,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.87,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
782,1783649269.276257,3164.157261689,35580,1,0,0,1,0,0,stop,-0.00342,0.00586,0.98535,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.82,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
783,1783649269.2954917,3164.176495944,35599,1,0,0,1,0,0,stop,-0.00391,0.00635,0.98389,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
784,1783649269.3154051,3164.196409579,35619,1,0,0,1,0,0,stop,-0.00391,0.00488,0.98633,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
785,1783649269.3353877,3164.216392216,35639,1,0,0,1,0,0,stop,-0.00342,0.00684,0.98438,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
786,1783649269.355497,3164.236501615,35659,1,0,0,1,0,0,stop,-0.00342,0.00586,0.98486,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
787,1783649269.3754423,3164.25644657,35679,1,0,0,1,0,0,stop,-0.00391,0.00537,0.98486,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
788,1783649269.3955412,3164.27654573,35699,1,0,0,1,0,0,stop,-0.00342,0.00635,0.98486,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.77,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
789,1783649269.4155133,3164.296517998,35719,1,0,0,1,0,0,stop,-0.00342,0.00684,0.98535,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
790,1783649269.4356108,3164.316615444,35739,1,0,0,1,0,0,stop,-0.00391,0.00684,0.98438,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
791,1783649269.4556754,3164.336679968,35759,1,0,0,1,0,0,stop,-0.00293,0.00586,0.98535,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.82,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
792,1783649269.4754705,3164.356475186,35779,0,0,0,1,0,0,stop,-0.00439,0.00635,0.98584,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.88,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
793,1783649269.495404,3164.376408559,35799,0,0,0,1,0,0,stop,-0.00439,0.00635,0.98291,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
794,1783649269.5156736,3164.396678165,35819,0,0,0,1,0,0,stop,-0.00342,0.00488,0.98242,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.82,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
795,1783649269.5356016,3164.416606148,35839,0,0,0,1,0,0,stop,-0.00293,0.00684,0.9873,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.79,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
796,1783649269.5553997,3164.436404312,35859,0,0,0,1,0,0,stop,-0.00293,0.00635,0.98584,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
797,1783649269.5753505,3164.456354937,35879,0,0,0,1,0,0,stop,-0.00391,0.00586,0.98535,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.82,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
798,1783649269.5956056,3164.476610036,35899,0,0,0,1,0,0,stop,-0.00342,0.00586,0.98633,0.0,0.0,0.0,0.3461,0.2197,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
799,1783649269.6155515,3164.496555943,35919,0,0,0,1,0,0,stop,-0.00439,0.00635,0.98486,0.0,0.0,0.0,0.3461,0.2197,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
800,1783649269.6360397,3164.517044328,35939,0,0,0,1,0,0,stop,-0.00439,0.00684,0.98486,0.0,0.0,0.0,0.3461,0.2197,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
801,1783649269.6559298,3164.536934477,35959,0,0,0,1,0,0,stop,-0.00342,0.00635,0.98438,0.0,0.0,0.0,0.3461,0.2197,14.7986,22.82,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
802,1783649269.675714,3164.556718655,35979,0,0,0,1,0,0,stop,-0.00391,0.00684,0.98535,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
803,1783649269.695647,3164.576651507,35999,0,0,0,1,0,0,stop,-0.00391,0.00586,0.98438,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
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,,
|
||||
|
200
plot_data_csv.py
Normal file
200
plot_data_csv.py
Normal file
@ -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()
|
||||
975
record1.py
Normal file
975
record1.py
Normal file
@ -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
|
||||
@ -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 = [
|
||||
|
||||
Reference in New Issue
Block a user