diff --git a/multi_sessions_20251119_181101/collection_summary.txt b/multi_sessions_20251119_181101/collection_summary.txt new file mode 100644 index 0000000000000000000000000000000000000000..3d1a2e7d528582d865e7d2fdb02857fbc52f0181 --- /dev/null +++ b/multi_sessions_20251119_181101/collection_summary.txt @@ -0,0 +1,93 @@ +======================================== +多会话XVisio数据采集摘要（Buffered版本） +======================================== +开始时间: 2025年 11月 19日 星期三 18:11:03 CST +设备模式: 单设备 +设备数量: 1 +计划会话数: 5 +会话间隔: 3秒 +摘要目录: ./multi_sessions_20251119_181101 +ToF模式: off +Python脚本: ./single_session_data_collector_buffered.py +配置文件: ../start_process/config.json +======================================== + +设备信息: + XV序列号: 250801DR48FP25002087 + Vive序列号: LHR_B728E669 + 设备标签: main + + +========================================== +会话 1 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:11:03 CST + 输出目录: ./multi_sessions_20251119_181101/session_001 + 结束时间: 2025年 11月 19日 星期三 18:11:18 CST + 持续时间: 15秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_181101/session_001 + +========================================== +会话 2 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:11:22 CST + 输出目录: ./multi_sessions_20251119_181101/session_002 + 结束时间: 2025年 11月 19日 星期三 18:11:36 CST + 持续时间: 14秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_181101/session_002 + +========================================== +会话 3 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:11:40 CST + 输出目录: ./multi_sessions_20251119_181101/session_003 + 结束时间: 2025年 11月 19日 星期三 18:11:59 CST + 持续时间: 19秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_181101/session_003 + +========================================== +会话 4 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:12:04 CST + 输出目录: ./multi_sessions_20251119_181101/session_004 + 结束时间: 2025年 11月 19日 星期三 18:12:18 CST + 持续时间: 14秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_181101/session_004 + +========================================== +会话 5 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:12:22 CST + 输出目录: ./multi_sessions_20251119_181101/session_005 + 结束时间: 2025年 11月 19日 星期三 18:12:35 CST + 持续时间: 13秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_181101/session_005 + +========================================== +采集完成总结: +========================================== +完成时间: 2025年 11月 19日 星期三 18:12:35 CST +成功会话数: 5 +失败会话数: 0 +总计划会话数: 5 +实际完成会话数: 5 +成功率: 100% + +数据目录结构: +./multi_sessions_20251119_181101/ +├─ session_001/ +├─ session_002/ +├─ session_003/ +├─ session_004/ +├─ session_005/ +└─ collection_summary.txt diff --git a/multi_sessions_20251119_181101/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_181101/session_001/Clamp_Data/clamp.csv new file mode 100644 index 0000000000000000000000000000000000000000..266a49c81f9ee4d0470061fc94ad874205b1e212 --- /dev/null +++ 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VIVE高速，SLAM正常 → 使用SLAM (500Hz) + 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) + 4. 都高速 → 不输出（跳过该帧） + +融合结果统计: + 总融合点数: 833 + 均值融合 (都低速): 833 + 使用SLAM (VIVE高速): 0 + 使用VIVE (SLAM高速): 0 + 都高速 (已跳过): 0 + 总跳过帧数: 0 + +策略分布: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +输出率统计: + 输出率: 100.0% + 跳过率: 0.0% + +生成时间: 2025-11-19 18:11:15 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181101/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181101/session_001/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..cc8f4dd74eb2aba34cef335c4a5bdce2015405e4 --- /dev/null +++ b/multi_sessions_20251119_181101/session_001/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,834 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157659.29345798492,0.0002023156787775,0.0001502998099688,-8.464157668040286e-05,-0.0020311127985661,-0.0058913234645966,0.0015654583574118,0.999979357901335 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0.019755816002518054 0.0043418818317328125 0.9974819763624538 diff --git a/multi_sessions_20251119_181101/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181101/session_001/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7575f5aa2cdfa6c8c55da32851f4472dd0dc568 --- /dev/null +++ b/multi_sessions_20251119_181101/session_001/Vive_Poses/offset_info.txt @@ -0,0 +1,18 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 157659.293458s + Vive 第一帧时间戳: 1763547065.177488s + 计算的 offset: -1763389405.884030s + 对齐公式: vive_aligned = vive_original + -1763389405.884030 + +说明: + - 所有保存的 Vive 数据已使用对齐后的时间戳 + - 时间戳已与 SLAM 数据对齐 + - 坐标已转换到 Gripper 坐标系 + +生成时间: 2025-11-19 18:11:15 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181101/session_001/Vive_Poses/vive_data_tum.txt 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VIVE高速，SLAM正常 → 使用SLAM (500Hz) + 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) + 4. 都高速 → 不输出（跳过该帧） + +融合结果统计: + 总融合点数: 836 + 均值融合 (都低速): 836 + 使用SLAM (VIVE高速): 0 + 使用VIVE (SLAM高速): 0 + 都高速 (已跳过): 0 + 总跳过帧数: 0 + +策略分布: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +输出率统计: + 输出率: 100.0% + 跳过率: 0.0% + +生成时间: 2025-11-19 18:11:33 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181101/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181101/session_002/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..dfc9e6c040091c87fe29fb9e5e6bec80c99f55e3 --- /dev/null +++ b/multi_sessions_20251119_181101/session_002/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,837 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157677.33746290207,0.0006158480982596,0.0005655768288583,0.0003341880835026,-0.0025224352683172,-0.0059484580973578,0.0031466545458545,0.9999741755324236 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a/multi_sessions_20251119_181101/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181101/session_002/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..4b22f40f82068218ae28294b9d0ee2000f8c9a6f --- /dev/null +++ b/multi_sessions_20251119_181101/session_002/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,836 @@ +157677.33746290207 -0.0010315075966658982 0.0014029779383524076 -4.874691654004808e-05 -0.002970659884435834 -0.0009521812396815014 0.0027965647420328354 0.9999912238396803 +157677.34747767448 -0.0010216668590645461 0.0014014070575383026 -3.99345380466233e-05 -0.0029457486335770517 -0.000971403002814411 0.0028341032377456592 0.999991173361061 +157677.3574836254 -0.0011033017542075585 0.0014671428409004086 -9.31641164431096e-05 -0.002892567214986847 -0.000997174289095465 0.002850485668230245 0.9999912566766767 +157677.3674776554 -0.0010119987147946263 0.001391526341311101 -7.491934031186444e-05 -0.002881523569950092 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VIVE高速，SLAM正常 → 使用SLAM (500Hz) + 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) + 4. 都高速 → 不输出（跳过该帧） + +融合结果统计: + 总融合点数: 811 + 均值融合 (都低速): 811 + 使用SLAM (VIVE高速): 0 + 使用VIVE (SLAM高速): 0 + 都高速 (已跳过): 0 + 总跳过帧数: 0 + +策略分布: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +输出率统计: + 输出率: 100.0% + 跳过率: 0.0% + +生成时间: 2025-11-19 18:11:56 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181101/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181101/session_003/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..029364f2a7b68667cd052cf7a99ca0ee724bb552 --- /dev/null +++ b/multi_sessions_20251119_181101/session_003/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,812 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157700.8714580536,0.000847257313852,0.0009575821102432,0.0003538281872299,-0.00186634385736,-0.0057384617609862,0.004616762052597,0.9999711357461142 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(500Hz) + +融合策略: + 1. 都低速 → 均值融合 (SLERP) + 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) + 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) + 4. 都高速 → 不输出（跳过该帧） + +融合结果统计: + 总融合点数: 815 + 均值融合 (都低速): 815 + 使用SLAM (VIVE高速): 0 + 使用VIVE (SLAM高速): 0 + 都高速 (已跳过): 0 + 总跳过帧数: 0 + +策略分布: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +输出率统计: + 输出率: 100.0% + 跳过率: 0.0% + +生成时间: 2025-11-19 18:12:15 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181101/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181101/session_004/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..415cd84c6ff20792c474ce937a0887b057122f6f --- /dev/null +++ b/multi_sessions_20251119_181101/session_004/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,816 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157719.8554570675,0.0004896070681091,0.0010323132800303,3.3625871093573105e-05,-0.0019159292080193,-0.0049305201674108,0.0045275127204454,0.9999757601135714 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+++ b/multi_sessions_20251119_181101/session_004/Vive_Poses/offset_info.txt @@ -0,0 +1,18 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 157719.855457s + Vive 第一帧时间戳: 1763547125.737564s + 计算的 offset: -1763389405.882107s + 对齐公式: vive_aligned = vive_original + -1763389405.882107 + +说明: + - 所有保存的 Vive 数据已使用对齐后的时间戳 + - 时间戳已与 SLAM 数据对齐 + - 坐标已转换到 Gripper 坐标系 + +生成时间: 2025-11-19 18:12:15 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181101/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181101/session_004/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..ccfa47ef6debacab637f3ba6738d0de859c575d5 --- /dev/null +++ b/multi_sessions_20251119_181101/session_004/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,816 @@ +157719.8554570675 -0.0011743730739926794 0.0018435422246948015 -0.0006609977946376659 -0.002338232859207693 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b/multi_sessions_20251119_181101/session_005/Merged_Trajectory/merge_stats.txt new file mode 100644 index 0000000000000000000000000000000000000000..014b5e109b108f1e8b61271dd39bfdfc4a4dcdbf --- /dev/null +++ b/multi_sessions_20251119_181101/session_005/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,37 @@ +轨迹融合统计信息（基于速度的动态融合） +============================================================ + +融合配置: + 速度阈值: 1.0 m/s + 融合频率: 120 Hz + 时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合策略: + 1. 都低速 → 均值融合 (SLERP) + 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) + 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) + 4. 都高速 → 不输出（跳过该帧） + +融合结果统计: + 总融合点数: 726 + 均值融合 (都低速): 726 + 使用SLAM (VIVE高速): 0 + 使用VIVE (SLAM高速): 0 + 都高速 (已跳过): 0 + 总跳过帧数: 0 + +策略分布: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +输出率统计: + 输出率: 100.0% + 跳过率: 0.0% + +生成时间: 2025-11-19 18:12:32 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181101/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181101/session_005/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..c7d80300a90c8b53e63461ce1f8a268933b9a1bc --- /dev/null +++ b/multi_sessions_20251119_181101/session_005/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,727 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157737.9194610119,0.0007612618349504,-0.0005395556890563,-0.0002615723212641,-0.0017895392944739,-0.0049394789901912,4.1052739942204255e-05,0.9999861986103068 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0.0708153088242085 -0.026007384767894843 0.008204994705315065 0.0011283219360208939 0.9996274410444269 diff --git a/multi_sessions_20251119_181101/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181101/session_005/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..549365f8d08fa69cd15650349674714b189e10c3 --- /dev/null +++ b/multi_sessions_20251119_181101/session_005/Vive_Poses/offset_info.txt @@ -0,0 +1,18 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 157737.919461s + Vive 第一帧时间戳: 1763547143.797425s + 计算的 offset: -1763389405.877964s + 对齐公式: vive_aligned = vive_original + -1763389405.877964 + +说明: + - 所有保存的 Vive 数据已使用对齐后的时间戳 + - 时间戳已与 SLAM 数据对齐 + - 坐标已转换到 Gripper 坐标系 + +生成时间: 2025-11-19 18:12:32 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181101/session_005/Vive_Poses/vive_data_tum.txt 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