diff --git a/multi_sessions_20251119_180733/collection_summary.txt b/multi_sessions_20251119_180733/collection_summary.txt new file mode 100644 index 0000000000000000000000000000000000000000..225b4384cc4e9f71fd20db85000bdb7e635ccf7a --- /dev/null +++ b/multi_sessions_20251119_180733/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 18:07:34 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_180733 +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 18:07:34 CST + 输出目录: ./multi_sessions_20251119_180733/session_001 + 结束时间: 2025年 11月 19日 星期三 18:07:50 CST + 持续时间: 16秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_180733/session_001 + +========================================== +会话 2 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:07:55 CST + 输出目录: ./multi_sessions_20251119_180733/session_002 + 结束时间: 2025年 11月 19日 星期三 18:08:09 CST + 持续时间: 14秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_180733/session_002 + +========================================== +会话 3 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:08:15 CST + 输出目录: ./multi_sessions_20251119_180733/session_003 + 结束时间: 2025年 11月 19日 星期三 18:08:30 CST + 持续时间: 15秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_180733/session_003 + +========================================== +会话 4 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:08:36 CST + 输出目录: ./multi_sessions_20251119_180733/session_004 + 结束时间: 2025年 11月 19日 星期三 18:08:53 CST + 持续时间: 17秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_180733/session_004 + +========================================== +会话 5 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:08:58 CST + 输出目录: ./multi_sessions_20251119_180733/session_005 + 结束时间: 2025年 11月 19日 星期三 18:09:16 CST + 持续时间: 18秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_180733/session_005 + +========================================== +采集完成总结: +========================================== +完成时间: 2025年 11月 19日 星期三 18:09:16 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_180733/ +├─ session_001/ +├─ session_002/ +├─ session_003/ +├─ session_004/ +├─ session_005/ +└─ collection_summary.txt diff --git a/multi_sessions_20251119_180733/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_180733/session_001/Clamp_Data/clamp.csv new file mode 100644 index 0000000000000000000000000000000000000000..f550967aba91ba7d3aa2dc0e0a97ac687056ed4e --- /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: 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 18:07:47 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180733/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_180733/session_001/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..bfccd7d7b2b18c1c252bf7797855e910b2325e72 --- /dev/null +++ b/multi_sessions_20251119_180733/session_001/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,837 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157451.06346988678,0.00179933056592,0.0015901017222208,0.0004650330222845,-0.0006970010416411,-0.0058229914674479,0.0065482655143356,0.9999613628429208 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-1763389405.884218s + 对齐公式: vive_aligned = vive_original + -1763389405.884218 + +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 18:07:47 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180733/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_180733/session_001/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..d003aeee0f65bd14edb3f8e8524bb4f501f25c2c --- /dev/null +++ b/multi_sessions_20251119_180733/session_001/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,836 @@ +157451.06346988678 0.0006537006034482012 0.0023324069405944955 4.672402762241043e-05 -0.0009251080801715481 -0.0009792405718320987 0.0066027253876237415 0.9999772943824266 +157451.0733435154 0.0003745962960439303 0.002254475290382985 -0.00022907045371883288 -0.0008148807136743542 -0.0008814116871865981 0.006579109870770065 0.9999776369480312 +157451.08355855942 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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: 863 + 均值融合 (都低速): 863 + 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 18:08:06 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180733/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_180733/session_002/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..3552c75e09aaa539a15c9c67c6097979e0b6491d --- /dev/null +++ b/multi_sessions_20251119_180733/session_002/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,864 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157470.32345700264,0.0035867120630559,-0.0020952872656158,-8.430343762556858e-07,-0.0017164639725274,-0.0047190208955663,-0.0026763930257464,0.999983810625747 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+对齐参数: + SLAM 第一帧时间戳: 157470.323457s + Vive 第一帧时间戳: 1763546876.207403s + 计算的 offset: -1763389405.883946s + 对齐公式: vive_aligned = vive_original + -1763389405.883946 + +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 18:08:06 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180733/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_180733/session_002/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..73413ec8e5ffdd30b70d35c29b9a428e8b521fae --- /dev/null +++ b/multi_sessions_20251119_180733/session_002/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,864 @@ +157470.32345700264 0.002435559171235391 -0.0008292699417836351 -0.0007377923787631057 -0.001956896331717629 0.0004214213843205382 -0.0029840811341321017 0.999993544089435 +157470.33356499672 0.0024312929809900408 -0.0008216134420111987 -0.0007478173059785535 -0.0019653596533412954 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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: 857 + 均值融合 (都低速): 857 + 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 18:08:26 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180733/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_180733/session_003/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..0714beb64e8aff2a70a6bd11ec2a4e92c626714e --- /dev/null +++ b/multi_sessions_20251119_180733/session_003/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,858 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157490.46345496178,0.0049289067124531,0.0011623187238353,0.0002173205951788,-0.0021349049591114,-0.0042892059541058,0.0046092027899936,0.999977899827161 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0000000000000000000000000000000000000000..4fe0034aa4157bcc4af99b334caf5418a0e961da --- /dev/null +++ b/multi_sessions_20251119_180733/session_003/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: 157490.463455s + Vive 第一帧时间戳: 1763546896.347490s + 计算的 offset: -1763389405.884035s + 对齐公式: vive_aligned = vive_original + -1763389405.884035 + +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 18:08:26 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180733/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_180733/session_003/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..7a802caf13d53d848d154cdc29e5faed81ab746b --- /dev/null +++ b/multi_sessions_20251119_180733/session_003/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,858 @@ 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+============================================================ + +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: 953 + 均值融合 (都低速): 953 + 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 18:08:49 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180733/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_180733/session_004/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..5970bd8c92dbf1573bb2be30e602d2285bfcee7a --- /dev/null +++ b/multi_sessions_20251119_180733/session_004/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,954 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157512.35546803474,0.0004928858898385,0.001985560292182,0.000865960011208,-0.0025055016426068,-0.0066922517000125,0.0072251285157251,0.9999483655402585 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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 18:08:49 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180733/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_180733/session_004/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..ffc1b9dc1aa44b5113e46cfb9e0c420a49d2c0e5 --- /dev/null +++ b/multi_sessions_20251119_180733/session_004/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,954 @@ +157512.35546803474 -0.001114118711615264 0.0031010164368845917 9.722713681592038e-05 -0.0026038688055232575 -0.0015702114742917725 0.00697647167219795 0.999971041153781 +157512.36556744576 -0.0011004410452518792 0.0030997654041915075 8.562701669274345e-05 -0.0025646375925538843 -0.0014970869134568118 0.007005081825165871 0.9999710546777917 +157512.37554240227 -0.0010846930531832888 0.0031045018125146597 0.000125076905409882 -0.002572004055603653 -0.0014281540657752622 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+============================================================ + +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: 980 + 均值融合 (都低速): 980 + 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 18:09:12 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180733/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_180733/session_005/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..b8e15540c93d255501776c9dd403305f28f1f1f3 --- /dev/null +++ b/multi_sessions_20251119_180733/session_005/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,981 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157534.89145588875,0.0051312332598657,0.0026597922489025,4.4070503227206816e-05,-0.0007898632591432,-0.0052475027346873,0.0100004982257174,0.99993591287958 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时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 157534.891456s + Vive 第一帧时间戳: 1763546940.777497s + 计算的 offset: -1763389405.886041s + 对齐公式: vive_aligned = vive_original + -1763389405.886041 + +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 18:09:12 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180733/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_180733/session_005/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..da19ffe4c04666f270e64fe2cd86c113123564fd --- /dev/null +++ b/multi_sessions_20251119_180733/session_005/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,981 @@ +157534.89145588875 0.003411106282310103 0.0036454821603287 -0.0006575610002307763 -0.0008834822565267896 -0.0003406276005244592 0.009843186748806588 0.99995110635799 +157534.9015238285 0.0034057169121700787 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