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217 lines (183 loc) · 7.3 KB
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# (c) Meta Platforms, Inc. and affiliates. Confidential and proprietary.
import argparse
import csv
import signal
import sys
import numpy as np
import rerun as rr
from projectaria_tools.core import data_provider
from projectaria_tools.core.sensor_data import MotionData, TimeDomain, TimeQueryOptions
NS_IN_MS = 1000000
def parse_args() -> argparse.Namespace:
parser = argparse.ArgumentParser()
parser.add_argument(
"--server",
action="append",
dest="server_serial_and_vrs_filename",
nargs="+",
required=True,
help="Serial number of the server device and its VRS file to be verified.",
)
parser.add_argument(
"--client",
action="append",
dest="client_serial_and_vrs_filenames",
nargs="+",
required=True,
help="Serial number of the client device and its VRS file to be verified.",
)
parser.add_argument(
"--export_to_csv",
dest="export_to_csv",
action="store_true",
help="Optional. Export IMU data to CSV. Default is false.",
)
return parser.parse_args()
def visualize_imu(image: np.array, window_name: str) -> None:
if image is not None:
rr.log(window_name, image)
def log_imu_data(sensor_name: str, imu: MotionData, timestamp: int):
rr.set_time_nanos("device_time", timestamp)
log_accelerometer(sensor_name, imu.accel_msec2)
log_gyroscope(sensor_name, imu.gyro_radsec)
log_magnetometer(sensor_name, imu.mag_tesla)
def log_accelerometer(sensor_name: str, accel_msec2: np.array):
rr.log(sensor_name + "/accel/x", rr.Scalar(accel_msec2[0]))
rr.log(sensor_name + "/accel/y", rr.Scalar(accel_msec2[1]))
rr.log(sensor_name + "/accel/z", rr.Scalar(accel_msec2[2]))
def log_gyroscope(sensor_name: str, gyro_radsec: np.array):
rr.log(sensor_name + "/gyro/x", rr.Scalar(gyro_radsec[0]))
rr.log(sensor_name + "/gyro/y", rr.Scalar(gyro_radsec[1]))
rr.log(sensor_name + "/gyro/z", rr.Scalar(gyro_radsec[2]))
def log_magnetometer(sensor_name: str, mag_tesla: np.array):
rr.log(sensor_name + "/mag/x", rr.Scalar(mag_tesla[0]))
rr.log(sensor_name + "/mag/y", rr.Scalar(mag_tesla[1]))
rr.log(sensor_name + "/mag/z", rr.Scalar(mag_tesla[2]))
def main():
args = parse_args()
assert (
len(args.server_serial_and_vrs_filename) == 1
), "Only one device can be specified as the server device"
server_serial = args.server_serial_and_vrs_filename[0][0]
server_vrs_filename = args.server_serial_and_vrs_filename[0][1]
server_vrs_data_provider = data_provider.create_vrs_data_provider(
server_vrs_filename
)
if not server_vrs_data_provider:
print("Couldn't create data provider from vrs file")
exit(1)
client_vrs_data_providers = {}
# Set up the client devices
for [serial, vrs_filename] in args.client_serial_and_vrs_filenames:
vrs_data_provider = data_provider.create_vrs_data_provider(vrs_filename)
if not vrs_data_provider:
print("Couldn't create data provider from vrs file")
exit(1)
client_vrs_data_providers[serial] = vrs_data_provider
# Stop streaming on ctrl-c
def signal_handler(sig, frame):
rr.disconnect()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
rr.init("Aria TicSync Verifier")
rr.connect()
imu_stream_id = server_vrs_data_provider.get_stream_id_from_label("imu-right")
imu_stream_id_str = str(imu_stream_id)
server_device_timestamps_vec = server_vrs_data_provider.get_timestamps_ns(
imu_stream_id, TimeDomain.DEVICE_TIME
)
csv_fields = [
"serial",
"timestamp_ns",
"accel_x",
"accel_y",
"accel_z",
"gyro_x",
"gyro_y",
"gyro_z",
"mag_x",
"mag_y",
"mag_z",
]
csv_server_imu_data = []
csv_client_imu_data = []
for timestamp in server_device_timestamps_vec:
server_imu_data = server_vrs_data_provider.get_imu_data_by_time_ns(
imu_stream_id, timestamp, TimeDomain.DEVICE_TIME, TimeQueryOptions.BEFORE
)
server_sensor_data = server_vrs_data_provider.get_sensor_data_by_time_ns(
imu_stream_id,
timestamp,
TimeDomain.DEVICE_TIME,
TimeQueryOptions.BEFORE,
)
server_imu_timestamp = server_sensor_data.get_time_ns(TimeDomain.DEVICE_TIME)
log_imu_data(
imu_stream_id_str + "/server/" + server_serial,
server_imu_data,
server_imu_timestamp,
)
if args.export_to_csv is True:
csv_server_imu_data.append(
[
server_serial,
server_imu_timestamp,
server_imu_data.accel_msec2[0],
server_imu_data.accel_msec2[1],
server_imu_data.accel_msec2[2],
server_imu_data.gyro_radsec[0],
server_imu_data.gyro_radsec[1],
server_imu_data.gyro_radsec[2],
server_imu_data.mag_tesla[0],
server_imu_data.mag_tesla[1],
server_imu_data.mag_tesla[2],
]
)
for [serial, client_vrs_data_provider] in client_vrs_data_providers.items():
client_imu_data = client_vrs_data_provider.get_imu_data_by_time_ns(
imu_stream_id,
timestamp,
TimeDomain.TIC_SYNC,
TimeQueryOptions.CLOSEST,
)
client_sensor_data = client_vrs_data_provider.get_sensor_data_by_time_ns(
imu_stream_id,
timestamp,
TimeDomain.TIC_SYNC,
TimeQueryOptions.CLOSEST,
)
client_imu_timestamp = client_sensor_data.get_time_ns(TimeDomain.TIC_SYNC)
time_delta = np.abs(server_imu_timestamp - client_imu_timestamp)
if time_delta < NS_IN_MS:
log_imu_data(
imu_stream_id_str + "/client/" + serial,
client_imu_data,
client_imu_timestamp,
)
if args.export_to_csv is True:
csv_client_imu_data.append(
[
serial,
client_imu_timestamp,
client_imu_data.accel_msec2[0],
client_imu_data.accel_msec2[1],
client_imu_data.accel_msec2[2],
client_imu_data.gyro_radsec[0],
client_imu_data.gyro_radsec[1],
client_imu_data.gyro_radsec[2],
client_imu_data.mag_tesla[0],
client_imu_data.mag_tesla[1],
client_imu_data.mag_tesla[2],
]
)
if args.export_to_csv is True:
with open("imu_data_server.csv", "w") as csv_server_file:
csv_writer = csv.writer(csv_server_file)
csv_writer.writerow(csv_fields)
csv_writer.writerows(csv_server_imu_data)
with open("imu_data_client.csv", "w") as csv_client_file:
csv_writer = csv.writer(csv_client_file)
csv_writer.writerow(csv_fields)
csv_writer.writerows(csv_client_imu_data)
if __name__ == "__main__":
main()