diff --git a/multi_sessions_20251119_182858/collection_summary.txt b/multi_sessions_20251119_182858/collection_summary.txt deleted file mode 100644 index 7e458def0a836945b89a0b21044e48e8235b3574..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/collection_summary.txt +++ /dev/null @@ -1,93 +0,0 @@ -======================================== -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 18:28:59 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_182858 -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 18:28:59 CST - 输出目录: ./multi_sessions_20251119_182858/session_001 - 结束时间: 2025年 11月 19日 星期三 18:29:13 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182858/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:29:18 CST - 输出目录: ./multi_sessions_20251119_182858/session_002 - 结束时间: 2025年 11月 19日 星期三 18:29:31 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182858/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:29:34 CST - 输出目录: ./multi_sessions_20251119_182858/session_003 - 结束时间: 2025年 11月 19日 星期三 18:29:50 CST - 持续时间: 16秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182858/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:29:53 CST - 输出目录: ./multi_sessions_20251119_182858/session_004 - 结束时间: 2025年 11月 19日 星期三 18:30:08 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182858/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:30:12 CST - 输出目录: ./multi_sessions_20251119_182858/session_005 - 结束时间: 2025年 11月 19日 星期三 18:30:25 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182858/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:30:25 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_182858/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_182858/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_182858/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 0e56c2704b3400e8870136d758c89f3c5cac77ce..0000000000000000000000000000000000000000 --- 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a/multi_sessions_20251119_182858/session_001/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -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: 745 - 均值融合 (都低速): 745 - 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 18:29:10 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182858/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182858/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 043f958a8b1641fa10ad7af7030a56d693e4b431..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,746 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158735.74006390572,-0.0007471555056345,-0.0020048542775491,-0.0003224131582398,-0.0024721732386296,-0.0043284609143576,-0.005617795802883,0.9999717961802264 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-============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158735.740064s - Vive 第一帧时间戳: 1763548141.622434s - 计算的 offset: -1763389405.882370s - 对齐公式: vive_aligned = vive_original + -1763389405.882370 - -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 18:29:10 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182858/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182858/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index b2ee7c90f9ea907359188a80ff9aff983807045f..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,745 +0,0 @@ -158735.74006390572 -0.0027026017514398953 -0.0014310381495568135 -0.0012847368741290518 -0.001974122851084489 0.0007697004107195701 -0.005860759946250523 0.999980580757996 -158735.7500960827 -0.0026813921637178356 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86.75485045132025 -158760.774010000 86.75485045132025 -158760.778953000 86.75485045132025 -158760.784264000 86.75485045132025 -158760.789477000 86.75485045132025 -158760.794808000 86.75485045132025 -158760.798965000 86.75485045132025 diff --git a/multi_sessions_20251119_182858/session_002/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_182858/session_002/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 15306c75d3d06d3e9a913bd1b68c029e5ad6ea3c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_002/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -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: 747 - 均值融合 (都低速): 747 - 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 18:29:28 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182858/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182858/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 9a619d6d957f1ebd303ad71f24310fa181def544..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,748 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158753.32007694244,-0.0005067113022418,-0.0008852489927411,0.0001289273003286,-0.0021917610916866,-0.0043877080676406,-0.0025428291158188,0.9999847389942098 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a/multi_sessions_20251119_182858/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182858/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index d979a88cdd7869128ffc60ea4c4a8e575c59ca15..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_002/Vive_Poses/offset_info.txt +++ /dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158753.320077s - Vive 第一帧时间戳: 1763548159.202447s - 计算的 offset: -1763389405.882370s - 对齐公式: vive_aligned = vive_original + -1763389405.882370 - -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 18:29:28 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182858/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182858/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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a/multi_sessions_20251119_182858/session_003/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_182858/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 31b583171084067ce4bb5b12378563db3832af77..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_003/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -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: 868 - 均值融合 (都低速): 868 - 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 18:29:46 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182858/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182858/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 1869c3225ff8a2ef62b9c737c31941c97b512977..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,869 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158770.31597995758,-0.0004176384583653,-0.0012258953642051,0.0001407998590615,-0.0028783071034757,-0.0041668946719411,-0.0036150570256717,0.9999806416624836 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a/multi_sessions_20251119_182858/session_003/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182858/session_003/Vive_Poses/offset_info.txt deleted file mode 100644 index e059fc4672a486b0d238ba78dbbc358f08bcc77a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_003/Vive_Poses/offset_info.txt +++ /dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158770.315980s - Vive 第一帧时间戳: 1763548176.202600s - 计算的 offset: -1763389405.886620s - 对齐公式: vive_aligned = vive_original + -1763389405.886620 - -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 18:29:46 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182858/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182858/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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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: 839 - 均值融合 (都低速): 839 - 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 18:30:05 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182858/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182858/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 0121e59cee57aa82ac7f755ee7a4c16c7b33fdca..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,840 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158789.0399889946,-0.0004044904470662,-0.0020917205353672,0.0001082083591018,-0.0018298455545442,-0.0036468994561969,-0.0062615559296516,0.9999720719634838 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/dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158789.039989s - Vive 第一帧时间戳: 1763548194.922509s - 计算的 offset: -1763389405.882520s - 对齐公式: vive_aligned = vive_original + -1763389405.882520 - -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 18:30:05 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182858/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182858/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index b3a2be3218a85793baf7babdc7ca2bdbad6509c8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,840 +0,0 @@ -158789.0399889946 -0.001924326797459075 -0.002203867742613665 -0.0010489450505042205 -0.00131989473701976 0.001445138132533618 -0.006235837486370315 0.9999786416641631 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deleted file mode 100644 index ac168df9e53b9be54b9bfe3aa38e2b1ca3e76b66..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_005/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -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: 762 - 均值融合 (都低速): 762 - 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 18:30:22 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182858/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182858/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 27cf8ab6067f0d0621d2507354cbfcad38252446..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,763 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158807.51198101044,-0.0002581370892247,-0.0021301403771099,-0.000143035166901,-0.0021541875989854,-0.00402012807886,-0.0055454744190011,0.9999742225475046 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SLAM 第一帧时间戳: 158807.511981s - Vive 第一帧时间戳: 1763548213.392500s - 计算的 offset: -1763389405.880519s - 对齐公式: vive_aligned = vive_original + -1763389405.880519 - -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 18:30:22 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182858/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182858/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index f423a52e074933a4ad862c2d6639378a68468db7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182858/session_005/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,763 +0,0 @@ -158807.51198101044 -0.0022488558893439398 -0.0019579569577719167 -0.001119850150544515 -0.0017679843572898316 0.0010320672346431931 -0.005683909103789915 0.9999817509564038 -158807.5219757557 -0.0021984424313187118 -0.001975253306841983 -0.0011148941333935906 -0.0017601291085979141 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