diff --git a/multi_sessions_20251119_181913/collection_summary.txt b/multi_sessions_20251119_181913/collection_summary.txt deleted file mode 100644 index f49b881ff04f19c0dcfd49115d1ec5074da44858..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/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 18:19:14 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_181913 -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 18:19:14 CST - 输出目录: ./multi_sessions_20251119_181913/session_001 - 结束时间: 2025年 11月 19日 星期三 18:19:29 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181913/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:19:33 CST - 输出目录: ./multi_sessions_20251119_181913/session_002 - 结束时间: 2025年 11月 19日 星期三 18:19:49 CST - 持续时间: 16秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181913/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:19:54 CST - 输出目录: ./multi_sessions_20251119_181913/session_003 - 结束时间: 2025年 11月 19日 星期三 18:20:08 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181913/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:20:12 CST - 输出目录: ./multi_sessions_20251119_181913/session_004 - 结束时间: 2025年 11月 19日 星期三 18:20:26 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181913/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:20:31 CST - 输出目录: ./multi_sessions_20251119_181913/session_005 - 结束时间: 2025年 11月 19日 星期三 18:20:46 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181913/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:20:46 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_181913/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_181913/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_181913/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 728aad92aa6ee5402b7c072cf37a0abaaf437129..0000000000000000000000000000000000000000 --- 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44b369687bcfadf1f0e692bf6a2ba4b4fb1bc607..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/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. 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b/multi_sessions_20251119_181913/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index 46f4bee2eb3e39daa6b53da2c3ee125b840c4f77..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/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: 158152.049456s - Vive 第一帧时间戳: 1763547557.927439s - 计算的 offset: -1763389405.877984s - 对齐公式: vive_aligned = vive_original + -1763389405.877984 - -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 18:19:26 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181913/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181913/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 77a92f5dd05d33464aaed3fec34fb7af4b2b3e6d..0000000000000000000000000000000000000000 --- 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a/multi_sessions_20251119_181913/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: 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 18:19:46 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181913/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181913/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index bd260d9a61af763749da78b892e7039d41866334..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/session_002/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 -158171.66154694557,0.0005736123475669,0.0021598737614096,0.0008012921276292,-0.0026425542407778,-0.0045431036118591,0.0033259029594434,0.9999806575560154 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0.06898500398019287 0.00916781202866273 0.0689046832735056 -0.013468327052850124 0.9974902004591235 diff --git a/multi_sessions_20251119_181913/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181913/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index 4fad740f2b402d6dbe09a78797d278287dadef5b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/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: 158171.661547s - Vive 第一帧时间戳: 1763547577.547475s - 计算的 offset: -1763389405.885928s - 对齐公式: vive_aligned = vive_original + -1763389405.885928 - -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 18:19:46 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181913/session_002/Vive_Poses/vive_data_tum.txt 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-158197.585346000 87.50408987387988 -158197.591924000 87.50408987387988 -158197.595641000 87.50408987387988 -158197.600303000 87.50408987387988 -158197.605649000 87.5131874272411 -158197.610373000 87.50408987387988 -158197.615329000 87.5131874272411 -158197.620352000 87.50408987387988 -158197.627723000 87.50408987387988 diff --git a/multi_sessions_20251119_181913/session_003/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_181913/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 05f1d9fa2a076389cbbdaf947d358ce6d3c18832..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/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: 761 - 均值融合 (都低速): 761 - 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 18:20:05 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181913/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181913/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index a321e189604b2c92ab0edaaff089555a23b3697e..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,762 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158190.01545500755,0.0002838255739795,0.0016688444251636,0.0007510721781313,-0.0023180038205737,-0.0044872078603733,0.0025586372562823,0.9999839724712074 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28680afbb8245a367ffcc10aef51e8bb4ec8db99..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/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: 158190.015455s - Vive 第一帧时间戳: 1763547595.897409s - 计算的 offset: -1763389405.881954s - 对齐公式: vive_aligned = vive_original + -1763389405.881954 - -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 18:20:05 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181913/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181913/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 5407ae61619b2e7358e7b7299c26f5e9b4440be9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,762 +0,0 @@ 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a/multi_sessions_20251119_181913/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: 775 - 均值融合 (都低速): 775 - 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 18:20:23 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181913/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181913/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 9dc4cec1f063b1afec6571e2c58b75d359371fb7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,776 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158208.0134549141,0.000616654076212,0.0009453623122007,0.0008741061962802,-0.0026039665716372,-0.0046579378467143,0.0019650698887223,0.9999838306059966 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0.045157536493457114 -0.0002731444074818446 0.03213389963934424 -0.01747076531377038 0.04729713263838536 -0.011412569477526327 0.9986628594583153 -158215.767454 0.04483213464025035 -0.00014475220897266355 0.03193172525809053 -0.01798036683481296 0.046921612248697106 -0.011265336414859932 0.9986732002551829 -158215.769455 0.04453363508450749 -5.174941094617316e-05 0.03176614214196309 -0.01848872303175696 0.046543193973315376 -0.011131659287904655 0.998683125108718 diff --git a/multi_sessions_20251119_181913/session_004/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181913/session_004/Vive_Poses/offset_info.txt deleted file mode 100644 index b0b576102fec783b7be67e48b7006460431f9eb1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/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: 158208.013455s - Vive 第一帧时间戳: 1763547613.897446s - 计算的 offset: -1763389405.883991s - 对齐公式: vive_aligned = vive_original + -1763389405.883991 - -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 18:20:23 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181913/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181913/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 97f19c0801ad6da517facdf22961b949abefe21a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,776 +0,0 @@ -158208.0134549141 -0.000970609817457932 0.0010543274020570377 -0.00032007957522960773 -0.0022616402457061747 -0.0006964716692400674 0.002169592167896891 0.999994846376939 -158208.02353191376 -0.0010593049258094261 0.0010704653607141318 -0.0003087989001696746 -0.0022289080661474976 -0.0006852394504769281 0.0021260376231064166 0.9999950211774823 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87.74031546436872 -158235.805487000 87.74938814042085 -158235.810315000 87.74938814042085 -158235.814790000 87.74938814042085 -158235.820212000 87.74938814042085 -158235.825053000 87.74938814042085 -158235.829792000 87.74938814042085 diff --git a/multi_sessions_20251119_181913/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_181913/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 5c3cdcc973f78fcd1979d05e594208571cb4f3a7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/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: 796 - 均值融合 (都低速): 796 - 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 18:20:43 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181913/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181913/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index fe983c28c72e27cd2dcea76194c99d07c13f0217..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,797 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158227.87746310234,0.0010912405060601,0.0021222209286457,0.0008766263489753,-0.0025700855135942,-0.0046166191434046,0.0031050999295423,0.9999812197449336 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-0.006188023589461785 0.9994740114236758 -158235.833457 0.006239632368292211 -0.006907639664345832 0.02907255022338806 0.028556767108833366 -0.014125946248782363 -0.006128385171026276 0.9994735672293009 diff --git a/multi_sessions_20251119_181913/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181913/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index e33eef88ace8e45942e2d9a7ffe7e07238cdc191..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181913/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: 158227.877463s - Vive 第一帧时间戳: 1763547633.757525s - 计算的 offset: -1763389405.880062s - 对齐公式: vive_aligned = vive_original + -1763389405.880062 - -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 18:20:43 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff 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