diff --git a/multi_sessions_20251119_180541/collection_summary.txt b/multi_sessions_20251119_180541/collection_summary.txt new file mode 100644 index 0000000000000000000000000000000000000000..8d78c6fc91002430a5b4fc57ac1de3880da1b984 --- /dev/null +++ b/multi_sessions_20251119_180541/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 18:05:42 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_180541 +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 18:05:42 CST + 输出目录: ./multi_sessions_20251119_180541/session_001 + 结束时间: 2025年 11月 19日 星期三 18:05:58 CST + 持续时间: 16秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_180541/session_001 + +========================================== +会话 2 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:06:04 CST + 输出目录: ./multi_sessions_20251119_180541/session_002 + 结束时间: 2025年 11月 19日 星期三 18:06:22 CST + 持续时间: 18秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_180541/session_002 + +========================================== +会话 3 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:06:27 CST + 输出目录: ./multi_sessions_20251119_180541/session_003 + 结束时间: 2025年 11月 19日 星期三 18:06:43 CST + 持续时间: 16秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_180541/session_003 + +========================================== +会话 4 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:06:49 CST + 输出目录: ./multi_sessions_20251119_180541/session_004 + 结束时间: 2025年 11月 19日 星期三 18:07:04 CST + 持续时间: 15秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_180541/session_004 + +========================================== +会话 5 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:07:10 CST + 输出目录: ./multi_sessions_20251119_180541/session_005 + 结束时间: 2025年 11月 19日 星期三 18:07:26 CST + 持续时间: 16秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_180541/session_005 + +========================================== +采集完成总结: +========================================== +完成时间: 2025年 11月 19日 星期三 18:07:26 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_180541/ +├─ session_001/ +├─ session_002/ +├─ session_003/ +├─ session_004/ +├─ session_005/ +└─ collection_summary.txt diff --git a/multi_sessions_20251119_180541/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_180541/session_001/Clamp_Data/clamp.csv new file mode 100644 index 0000000000000000000000000000000000000000..a3a43d3cd9170deb4d10ddd1c3769122f1c6b228 --- /dev/null +++ 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--- /dev/null +++ b/multi_sessions_20251119_180541/session_001/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: 793 + 均值融合 (都低速): 793 + 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 18:05:55 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180541/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_180541/session_001/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..a8044cf9b1b1dc6bb1abbe7c441b0c8687c2b0e5 --- /dev/null +++ b/multi_sessions_20251119_180541/session_001/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,794 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157339.56346011162,0.0009007023610331,2.4516148530751724e-05,0.001022584328011,-0.0010071113882943,-0.0049673723904339,8.260842053757008e-05,0.9999871519744818 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a/multi_sessions_20251119_180541/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_180541/session_001/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..f35596b4d30cc1b8cce48c3e4b7d638ab414ba7b --- /dev/null +++ b/multi_sessions_20251119_180541/session_001/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,794 @@ +157339.56346011162 7.766269052300601e-07 0.0004523787953382184 0.00013488882504065803 -0.0004680304143202443 -0.00037217589633247675 0.0001373729340350799 0.9999998117806376 +157339.57352089882 8.105247311929187e-07 0.000455082995211671 0.000140602407873232 -0.0004651230502383903 -0.0003453994267562716 0.00013177786862696958 0.9999998234971731 +157339.58336114883 3.248640294062355e-05 0.0004590098159710081 0.00020765117369587316 -0.000490350741804358 -0.00036825996605575813 0.00012138849597120845 0.999999804602771 +157339.59348082542 -0.00027427637254864856 0.0004681399483901282 3.7225059257542284e-05 -0.0004046788120415305 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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: 865 + 均值融合 (都低速): 865 + 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 18:06:18 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180541/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_180541/session_002/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..77a45221a700775706a53bd6c0621757a74e4f55 --- /dev/null +++ b/multi_sessions_20251119_180541/session_002/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,866 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157362.42345905304,0.0013892607587241,0.0015526914233842,-2.690832654294949e-05,-0.0009569030756188,-0.0050445200233572,0.0074523996759584,0.9999590486081456 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157362.423459s + Vive 第一帧时间戳: 1763546768.307659s + 计算的 offset: -1763389405.884200s + 对齐公式: vive_aligned = vive_original + -1763389405.884200 + +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 18:06:18 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180541/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_180541/session_002/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..1eb8cc929d34fa123c81beb867f7df3328d59b65 --- /dev/null +++ b/multi_sessions_20251119_180541/session_002/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,865 @@ +157362.42345905304 -0.0005848236761400866 0.0029088540135485397 -0.0009096161363504541 -0.0010042631437249846 -1.2001233926452003e-05 0.007116984181762762 0.9999741695902276 +157362.43336963654 -0.0005647230789520424 0.0028922037014296933 -0.0009027879803872931 -0.0009927330518765707 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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: 884 + 均值融合 (都低速): 884 + 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 18:06:40 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180541/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_180541/session_003/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..b60f44763c5bda10182cfd994a5a305e8aae31be --- /dev/null +++ b/multi_sessions_20251119_180541/session_003/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,885 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157383.44745588303,0.0010691402695935,-0.0012792034804518,0.0006989455508314,-0.0014211623495687,-0.0059125779654577,-0.0003922733921334,0.9999814337481292 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a/multi_sessions_20251119_180541/session_003/Vive_Poses/offset_info.txt b/multi_sessions_20251119_180541/session_003/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..d1780b18c4a91d9c40a22abe69cb2f7c162c0a6c --- /dev/null +++ b/multi_sessions_20251119_180541/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: 157383.447456s + Vive 第一帧时间戳: 1763546789.327500s + 计算的 offset: -1763389405.880044s + 对齐公式: vive_aligned = vive_original + -1763389405.880044 + +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 18:06:40 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180541/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_180541/session_003/Vive_Poses/vive_data_tum.txt new 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: 855 + 均值融合 (都低速): 855 + 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 18:07:01 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180541/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_180541/session_004/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..acf5d829aac98323af1b9e3806ee76936c23596c --- /dev/null +++ b/multi_sessions_20251119_180541/session_004/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,856 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +157405.22546195984,0.001163473830121,0.0012817710893948,0.0005212188658991,-0.0012656095075607,-0.0060116225684295,0.0063436466758826,0.9999610076265578 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b/multi_sessions_20251119_180541/session_004/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..eb91c7bf5a067ce6126fac9535c35a5d971cfa55 --- /dev/null +++ b/multi_sessions_20251119_180541/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: 157405.225462s + Vive 第一帧时间戳: 1763546811.107577s + 计算的 offset: -1763389405.882115s + 对齐公式: vive_aligned = vive_original + -1763389405.882115 + +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 18:07:01 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180541/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_180541/session_004/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..c13ddba0fa9918911302c8aabe65140e870dae4c --- /dev/null +++ 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b/multi_sessions_20251119_180541/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. 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0.005123677765608809 -0.009642566400459098 0.018691299692191035 0.013428364577293694 0.9996886191478869 diff --git a/multi_sessions_20251119_180541/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_180541/session_005/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..e20818c06b134a057ceac101329169c68dfc10da --- /dev/null +++ b/multi_sessions_20251119_180541/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: 157426.101458s + Vive 第一帧时间戳: 1763546831.987436s + 计算的 offset: -1763389405.885978s + 对齐公式: vive_aligned = vive_original + -1763389405.885978 + +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 18:07:22 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_180541/session_005/Vive_Poses/vive_data_tum.txt 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