diff --git a/multi_sessions_20251119_183159/collection_summary.txt b/multi_sessions_20251119_183159/collection_summary.txt deleted file mode 100644 index 9390d17627fa82d4f7842dc2ebaa93e9b9324962..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/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 18:32:00 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_183159 -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 18:32:00 CST - 输出目录: ./multi_sessions_20251119_183159/session_001 - 结束时间: 2025年 11月 19日 星期三 18:32:18 CST - 持续时间: 18秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183159/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:32:22 CST - 输出目录: ./multi_sessions_20251119_183159/session_002 - 结束时间: 2025年 11月 19日 星期三 18:32:37 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183159/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:32:40 CST - 输出目录: ./multi_sessions_20251119_183159/session_003 - 结束时间: 2025年 11月 19日 星期三 18:32:54 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183159/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:32:58 CST - 输出目录: ./multi_sessions_20251119_183159/session_004 - 结束时间: 2025年 11月 19日 星期三 18:33:14 CST - 持续时间: 16秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183159/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:33:27 CST - 输出目录: ./multi_sessions_20251119_183159/session_005 - 结束时间: 2025年 11月 19日 星期三 18:33:50 CST - 持续时间: 23秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183159/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:33:50 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_183159/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_183159/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_183159/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index db7e5e4b422ed9f94148e522962cb3010f4f4445..0000000000000000000000000000000000000000 --- 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b/multi_sessions_20251119_183159/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 3783f21ad94087b9b2f5edcab8b79788f4251edf..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/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: 791 - 均值融合 (都低速): 791 - 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 18:32:15 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183159/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183159/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 29046108ce1c77caf187d550e5225357796ec1e9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,792 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158919.717979908,0.0002124173281948,-0.0004984802593729,0.0006029222520631,-0.0028366041153823,-0.0033750631462719,-0.0029816899400843,0.9999858359751664 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0.012228328806852293 0.07130059323123011 -0.03608279175216115 0.9967270065162459 diff --git a/multi_sessions_20251119_183159/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_183159/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index 845e247987e72692f76e32c5ab6e970d58e97ec5..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/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: 158919.717980s - Vive 第一帧时间戳: 1763548325.602395s - 计算的 offset: -1763389405.884415s - 对齐公式: vive_aligned = vive_original + -1763389405.884415 - -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 18:32:15 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183159/session_001/Vive_Poses/vive_data_tum.txt 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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: 784 - 均值融合 (都低速): 784 - 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 18:32:34 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183159/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183159/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 79ea309821c9f95073644565885cfc83ee040c8c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,785 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158938.5839779377,0.0002698532904642,-0.0023555950927186,0.0007623295561038,-0.0028533637930646,-0.003229853996035,-0.0074241240222986,0.99996315369154 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a/multi_sessions_20251119_183159/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: 158938.583978s - Vive 第一帧时间戳: 1763548344.462485s - 计算的 offset: -1763389405.878507s - 对齐公式: vive_aligned = vive_original + -1763389405.878507 - -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 18:32:34 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183159/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183159/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 16ffe843496c3e05e443af181103b2a50402eaac..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/session_002/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,785 +0,0 @@ -158938.5839779377 -0.0015151744205619128 -0.002631010581726015 -0.00054991219928704 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86.95649273903416 -158963.696425000 86.95649273903416 diff --git a/multi_sessions_20251119_183159/session_003/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_183159/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 4952b63d6d79611db681230ca57bd39efe64c876..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/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: 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 18:32:51 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183159/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183159/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 0c3b594a7ff1c5bac37560764b9c77f3da9589c9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/session_003/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 -158956.22997808456,3.034734649651205e-05,-0.0005339961301431,0.0007308126621025,-0.002855050721408,-0.0033880230820004,-0.0028294434366823,0.999986182021938 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--git a/multi_sessions_20251119_183159/session_003/Vive_Poses/offset_info.txt b/multi_sessions_20251119_183159/session_003/Vive_Poses/offset_info.txt deleted file mode 100644 index e263c9d20981e08641ce7e660265043fbff5f5f7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/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: 158956.229978s - Vive 第一帧时间戳: 1763548362.112401s - 计算的 offset: -1763389405.882423s - 对齐公式: vive_aligned = vive_original + -1763389405.882423 - -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 18:32:51 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183159/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183159/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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8fb7ecf2aa17aefb2f48eeaae30b6e977c820edb..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/session_004/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: 894 - 均值融合 (都低速): 894 - 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 18:33:10 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183159/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183159/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 865d5fb33a669004d99f3bced9d6e8e4d576668d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,895 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158973.77202296257,-1.8210553806345675e-05,-0.0007578362179835,0.0004936738770953,-0.0027600078658504,-0.0034706389440202,-0.0030810094342637,0.9999854220951256 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0.00738946183020277 0.05434054732004914 0.035801017928307546 0.0012847974987756502 0.9978796226637968 -158982.715979 0.020797558149594955 -0.013656647837500174 0.007398797240339822 0.05450564352676281 0.03560322003614527 0.0013722204926230426 0.9978775789432844 diff --git a/multi_sessions_20251119_183159/session_004/Vive_Poses/offset_info.txt b/multi_sessions_20251119_183159/session_004/Vive_Poses/offset_info.txt deleted file mode 100644 index 7515e4b3b6f5c4b24a2b26470958649c58210186..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/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: 158973.772023s - Vive 第一帧时间戳: 1763548379.652522s - 计算的 offset: -1763389405.880499s - 对齐公式: vive_aligned = vive_original + -1763389405.880499 - -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 18:33:10 -设备标签: main 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87.42216892110109 -159019.532274000 87.41306182041758 -159019.537272000 87.41306182041758 -159019.545066000 87.41306182041758 -159019.548043000 87.41306182041758 -159019.552284000 87.42216892110109 -159019.557288000 87.42216892110109 -159019.562639000 87.41306182041758 -159019.567274000 87.41306182041758 diff --git a/multi_sessions_20251119_183159/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_183159/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 0aca3a4399edd8aac96d32cce68bd25b4bf3dac0..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/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: 786 - 均值融合 (都低速): 786 - 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 18:33:47 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183159/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183159/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index b0ea38956f14660cd6918ec402063f66b797e1cb..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,787 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159011.70597791672,-5.4478675891991846e-05,-0.0008591634550698,0.0007704645286881,0.0023227549308912,-0.0029771322025947,-0.0096708234832259,0.9999461068810336 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b/multi_sessions_20251119_183159/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index d47d082829b07492774112e72a877eb20d859096..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183159/session_005/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: 159011.705978s - Vive 第一帧时间戳: 1763548417.592465s - 计算的 offset: -1763389405.886487s - 对齐公式: vive_aligned = vive_original + -1763389405.886487 - -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 18:33:47 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183159/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183159/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 0010246821db3c90e1c98f2b6243ab143c584e8f..0000000000000000000000000000000000000000 --- 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