diff --git a/multi_sessions_20251119_182300/collection_summary.txt b/multi_sessions_20251119_182300/collection_summary.txt deleted file mode 100644 index 6ca758d9167f845932cb0d3fbb46f823c5c2f7aa..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/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 18:23:02 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_182300 -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 18:23:02 CST - 输出目录: ./multi_sessions_20251119_182300/session_001 - 结束时间: 2025年 11月 19日 星期三 18:23:15 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182300/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:23:19 CST - 输出目录: ./multi_sessions_20251119_182300/session_002 - 结束时间: 2025年 11月 19日 星期三 18:23:31 CST - 持续时间: 12秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182300/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:23:35 CST - 输出目录: ./multi_sessions_20251119_182300/session_003 - 结束时间: 2025年 11月 19日 星期三 18:23:48 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182300/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:23:52 CST - 输出目录: ./multi_sessions_20251119_182300/session_004 - 结束时间: 2025年 11月 19日 星期三 18:24:04 CST - 持续时间: 12秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182300/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:24:08 CST - 输出目录: ./multi_sessions_20251119_182300/session_005 - 结束时间: 2025年 11月 19日 星期三 18:24:22 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182300/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:24:22 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_182300/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_182300/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_182300/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 7dbb97143392961aca43a24e4d55d2f1bbc93d3d..0000000000000000000000000000000000000000 --- 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4462226716362ae2fa4dfe9a68806c53f2394ade..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/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: 706 - 均值融合 (都低速): 706 - 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 18:23:12 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182300/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182300/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 1f4d31353c0700f849b50961c3c36531959445e8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,707 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158378.08146309853,0.0005620644173121,0.0012577017153069,0.000640283014068,-0.002081176476552,-0.0047681181289426,0.0023173241067397,0.9999837817499674 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a/multi_sessions_20251119_182300/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182300/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index 7b5b9e6cfcd58330714c19ed3fff35e0460d4f4c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/session_001/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: 158378.081463s - Vive 第一帧时间戳: 1763547783.967413s - 计算的 offset: -1763389405.885950s - 对齐公式: vive_aligned = vive_original + -1763389405.885950 - -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 18:23:12 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182300/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182300/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index ecc884c7344e64baa964577832633ab99b71331b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,706 +0,0 @@ -158378.08146309853 -0.0007132325157150343 0.0018171587033764518 -0.0003676747512050297 -0.0012690396360078352 9.228599738754004e-06 0.0024402629710165717 0.9999962172777792 -158378.09150719643 -0.0006989780337473411 0.0018393961015531028 -0.00036536122485798876 -0.0012524163813641236 1.6035599343785123e-05 0.002461023308670756 0.9999961872729022 -158378.10149121284 -0.0006980184735980582 0.0018333783850479225 -0.00025664523867937233 -0.001327974372384387 3.0809425469759504e-05 0.0023297849458426664 0.9999964038120096 -158378.11145353317 -0.00068892415202923 0.0018563726475265857 -0.00024225059821058386 -0.0013410833528999975 2.5314216616192047e-05 0.002354722554633691 0.9999963280614194 -158378.12151932716 -0.0006945196113627705 0.0019445730152882598 -0.00025881508849770626 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100644 index 302d7a1b6a70c901d4ddbe9fe9c55e88b5a6e771..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/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: 667 - 均值融合 (都低速): 667 - 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 18:23:28 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182300/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182300/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 44fafd12196229f7cda090fa24465d1e319fdc49..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,668 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158394.84946107864,0.0007475199109263,0.0013690312922959,0.0005556685624144,-0.0021799046046541,-0.0050542702888771,0.003679927708758,0.999978080009667 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-158401.525457 0.047294203265398925 -0.022168011025672837 0.08300020530664046 0.009353231155176792 0.028370444446565123 -0.010214491073359002 0.9995015253219849 diff --git a/multi_sessions_20251119_182300/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182300/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index cd243587e8f5a7dd2ed570553aef3ae8b3a84dff..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/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: 158394.849461s - Vive 第一帧时间戳: 1763547800.727399s - 计算的 offset: -1763389405.877938s - 对齐公式: vive_aligned = vive_original + -1763389405.877938 - -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 18:23:28 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182300/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182300/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index a10862aa52fa4a4beefef57734d5ba0654e7a6cc..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/session_002/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,668 +0,0 @@ -158394.84946107864 -0.0006530171744917462 0.0017404433511080206 -0.0002638825987568116 -0.0018215910061485795 -0.0004351342291025003 0.0036406237151815515 0.9999916191265672 -158394.8594675064 -0.0006567827455359609 0.001751095731304015 -0.00027259661169633036 -0.001810896091047114 -0.0004190450898280423 0.0036670336400463272 0.9999915489247112 -158394.86950063705 -0.0006780393701939919 0.0017876920358098946 -0.00027228354980382845 -0.0018339543314343687 -0.0004654046647278988 0.003658345299969875 0.9999915182238669 -158394.8794772625 -0.0006981625757007809 0.0017030963990202718 -0.0002088806060285469 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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: 742 - 均值融合 (都低速): 742 - 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 18:23:45 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182300/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182300/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 4c8e9485b35d8697a394292e3c797ecd8244e24a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,743 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158410.2354569435,0.0003865995736821,0.0024144190307868,0.0002748748073539,-0.0025165763928468,-0.0049270701908937,0.00553218045006,0.999969392432619 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-158417.655455 0.04329696804411094 -0.020185490361128516 0.037479413046454545 0.008561636989295117 0.03434777580028067 -0.00191501021509179 0.9993714331546171 -158417.657454 0.04302291680255127 -0.019901057945513164 0.037320274427034145 0.008630195834322282 0.03401218957671944 -0.0015865595050474528 0.9993828963460378 -158417.659461 0.04274933281127845 -0.01961662578639557 0.03716218974362205 0.008687085601149246 0.03367670544893509 -0.0012547255673620009 0.9993942363840281 diff --git a/multi_sessions_20251119_182300/session_003/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182300/session_003/Vive_Poses/offset_info.txt deleted file mode 100644 index 96e893823a85f44ecc899b17c180f4f44db6bd48..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/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: 158410.235457s - Vive 第一帧时间戳: 1763547816.117427s - 计算的 offset: -1763389405.881970s - 对齐公式: vive_aligned = vive_original + -1763389405.881970 - -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 18:23:45 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182300/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182300/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 466bffd46f7b3f7298881b0f075de4aa187a1d43..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,743 +0,0 @@ -158410.2354569435 -0.0013372341881243838 0.002614663216901415 -0.0007340383681409396 -0.0022949177219481515 -0.00042759155831298884 0.005587180886108718 0.9999816667958742 -158410.24547934532 -0.001327604968269322 0.0025605100123227064 -0.0006604827146423376 -0.0023328143859793356 -0.00045288856394631644 0.0055195664464914584 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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: 691 - 均值融合 (都低速): 691 - 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 18:24:01 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182300/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182300/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index e9dd84316dee5c584c0817e5f4564543515b38d0..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,692 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158427.28946495056,0.0003248537537209,0.0016455610815951,0.0002354069043121,-0.002238793767352,-0.0050504545873748,0.0040024613440433,0.9999767302363178 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a/multi_sessions_20251119_182300/session_004/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: 158427.289465s - Vive 第一帧时间戳: 1763547833.167452s - 计算的 offset: -1763389405.877987s - 对齐公式: vive_aligned = vive_original + -1763389405.877987 - -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 18:24:01 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182300/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182300/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 6aad8c4640e90c829dde4fceac5f8182b8c8a797..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,691 +0,0 @@ -158427.28946495056 -0.0016048285790706274 0.0019345539130781117 -0.0007898364951646184 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(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 18:24:19 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182300/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182300/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index f335d0f37ff4ada6b2554e69c53721667b3a2ed8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/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 -158444.22945594788,0.0004921364725068,0.0026379606099076,0.0003446122065808,-0.0023515166046959,-0.005378169324845,0.0056019618420676,0.9999670813021252 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-============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158444.229456s - Vive 第一帧时间戳: 1763547850.107362s - 计算的 offset: -1763389405.877906s - 对齐公式: vive_aligned = vive_original + -1763389405.877906 - -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 18:24:19 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182300/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182300/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 7081cc11ec187df76d70a980a041491dc4c5dcaf..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182300/session_005/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,763 +0,0 @@ -158444.22945594788 -0.0014716472481225568 0.00264939027574178 -0.000529237924123131 -0.0020199283019197104 -0.0007580988927447049 0.005762520205018359 0.9999810690891155 -158444.23961043358 -0.001426697459880541 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