diff --git a/multi_sessions_20251119_183028/collection_summary.txt b/multi_sessions_20251119_183028/collection_summary.txt deleted file mode 100644 index e38f631a9f4ef8bf88a9d6a17055e5ccedd260f6..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/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 18:30:29 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_183028 -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 18:30:29 CST - 输出目录: ./multi_sessions_20251119_183028/session_001 - 结束时间: 2025年 11月 19日 星期三 18:30:43 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183028/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:30:47 CST - 输出目录: ./multi_sessions_20251119_183028/session_002 - 结束时间: 2025年 11月 19日 星期三 18:31:03 CST - 持续时间: 16秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183028/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:31:07 CST - 输出目录: ./multi_sessions_20251119_183028/session_003 - 结束时间: 2025年 11月 19日 星期三 18:31:21 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183028/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:31:25 CST - 输出目录: ./multi_sessions_20251119_183028/session_004 - 结束时间: 2025年 11月 19日 星期三 18:31:38 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183028/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:31:42 CST - 输出目录: ./multi_sessions_20251119_183028/session_005 - 结束时间: 2025年 11月 19日 星期三 18:31:57 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183028/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:31:57 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_183028/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_183028/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_183028/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 76e04ff040efc40c5304f5286aedd7b41e3545a1..0000000000000000000000000000000000000000 --- 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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: 765 - 均值融合 (都低速): 765 - 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 18:30:40 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183028/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183028/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index d73472cec32de74b954aea3de60f45a99388425c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,766 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158825.52398109436,-6.369760877607267e-05,-0.000633704990041,0.00025836962157,-0.0026455757000174,-0.0043296652172995,-0.0016603918262619,0.9999857489121058 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2c68d93d465e0799a578e9d459616a5248eef273..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/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: 158825.523981s - Vive 第一帧时间戳: 1763548231.402470s - 计算的 offset: -1763389405.878489s - 对齐公式: vive_aligned = vive_original + -1763389405.878489 - -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 18:30:40 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183028/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183028/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index b8c2f8b1dce81d27163efc184918dda20a71318a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,765 +0,0 @@ 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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: 842 - 均值融合 (都低速): 842 - 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 18:31:00 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183028/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183028/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 80ffdc1ba90800e106412e1a936d54bf1ed33fb1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,843 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158844.28997707367,-0.0002539814175284,-0.0010423118966947,-6.06218873951552e-05,-0.0027251025904245,-0.0044145294739275,-0.0027242870249464,0.999982831855428 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a/multi_sessions_20251119_183028/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_183028/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index ee6103bbe71a2ee0f0dbd4f12a7bf4d5392933c0..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/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: 158844.289977s - Vive 第一帧时间戳: 1763548250.172451s - 计算的 offset: -1763389405.882474s - 对齐公式: vive_aligned = vive_original + -1763389405.882474 - -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 18:31:00 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183028/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183028/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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-158871.038918000 86.95649273903416 -158871.044123000 86.95649273903416 -158871.048906000 86.95649273903416 -158871.053958000 86.95649273903416 -158871.059332000 86.95649273903416 -158871.064341000 86.95649273903416 -158871.068878000 86.95649273903416 -158871.074333000 86.96564740185984 -158871.078951000 86.96564740185984 -158871.083923000 86.96564740185984 -158871.088875000 86.95649273903416 diff --git a/multi_sessions_20251119_183028/session_003/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_183028/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 7ae325cf5153323e13ae9e9bc878cca2b0498438..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/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: 781 - 均值融合 (都低速): 781 - 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 18:31:18 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183028/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183028/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index ba77bcde5ba1a7f7399ceb44dd4edd2faf4032e2..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,782 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158863.2759809494,-0.0003399456367985,-0.0007434867551974,0.0004592569916654,-0.0026694022620305,-0.0042159247497324,-0.0023348343571839,0.9999848242941454 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1763548269.162479s - 计算的 offset: -1763389405.886498s - 对齐公式: vive_aligned = vive_original + -1763389405.886498 - -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 18:31:18 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183028/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183028/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 8dc948cf93e57de4ba9638b0a827ff0541705d6e..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,782 +0,0 @@ -158863.2759809494 -0.0017948791959085802 -0.0007822039581660018 -0.000575104878367534 -0.002588112375456784 0.0004952972997786695 -0.002591891652986871 0.9999931692029581 -158863.28595614433 -0.0016649213531419599 -0.0006676780185486124 -0.0005727098255275662 -0.002529118448664926 0.0005435678500484058 -0.0025076559999283074 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-158888.082467000 87.48589190150977 -158888.087468000 87.48589190150977 -158888.093792000 87.476791482733 -158888.097477000 87.48589190150977 diff --git a/multi_sessions_20251119_183028/session_004/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_183028/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index a547570ad171b78492a0d9f08e65200d032833d9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/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: 721 - 均值融合 (都低速): 721 - 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 18:31:35 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183028/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183028/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 816995ba4fbe6e029a615ba7ee6185e774b52333..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,722 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158880.8779850006,-0.0005672220058308,0.0001750625126927,9.50010383692913e-05,-0.0024757357121275,-0.0039614497814433,-0.0002777534517278,0.9999890501907172 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1763548286.762522s - 计算的 offset: -1763389405.884537s - 对齐公式: vive_aligned = vive_original + -1763389405.884537 - -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 18:31:35 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183028/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183028/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index ddf9e4bcd62767b78504441998ab228e6a667414..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,722 +0,0 @@ -158880.8779850006 -0.0021336278619336208 0.0004158912093913506 -0.0010741024599496066 -0.0021286385480981137 0.0008834322980763765 -0.0005451636264367893 0.999997195617031 -158880.88793349266 -0.0021967672843871133 0.000314786083093091 -0.0011852236390530674 -0.0021433971936685556 0.0009068792191634814 -0.0006242789430538418 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b/multi_sessions_20251119_183028/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index bc02d00fdb3d4d71ac4a6267acfcacaebd9fdcde..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/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: 872 - 均值融合 (都低速): 872 - 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 18:31:54 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183028/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183028/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 3ced0dee3c14ba3167c98d8f1e47d06825404c7d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,873 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158897.5479810238,-2.8642805515739778e-05,-0.0008312939321396,0.000355696414238,-0.0027146725616395,-0.0043034864847422,-0.0022022410336806,0.9999846302275792 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-0.006921676785708129 -0.002641249759627165 0.02775314693436325 0.03667932588059725 0.0029494149374245503 0.9989372807337363 diff --git a/multi_sessions_20251119_183028/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_183028/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index 7c487b9e64ecf66622c1bb4e5c73e1daa154776e..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183028/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: 158897.547981s - Vive 第一帧时间戳: 1763548303.432498s - 计算的 offset: -1763389405.884517s - 对齐公式: vive_aligned = vive_original + -1763389405.884517 - -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 18:31:54 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183028/session_005/Vive_Poses/vive_data_tum.txt 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