diff --git a/multi_sessions_20251119_184004/collection_summary.txt b/multi_sessions_20251119_184004/collection_summary.txt deleted file mode 100644 index c640b8d752d78139d5e6a71535a68cb5ac677abf..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/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 18:40:05 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_184004 -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 18:40:05 CST - 输出目录: ./multi_sessions_20251119_184004/session_001 - 结束时间: 2025年 11月 19日 星期三 18:40:19 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_184004/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:40:23 CST - 输出目录: ./multi_sessions_20251119_184004/session_002 - 结束时间: 2025年 11月 19日 星期三 18:40:38 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_184004/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:40:45 CST - 输出目录: ./multi_sessions_20251119_184004/session_003 - 结束时间: 2025年 11月 19日 星期三 18:40:58 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_184004/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:41:02 CST - 输出目录: ./multi_sessions_20251119_184004/session_004 - 结束时间: 2025年 11月 19日 星期三 18:41:15 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_184004/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:41:20 CST - 输出目录: ./multi_sessions_20251119_184004/session_005 - 结束时间: 2025年 11月 19日 星期三 18:41:33 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_184004/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:41:33 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_184004/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_184004/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_184004/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 7ab301ccce1329ba107aeb8bbd663233f3fc8c8e..0000000000000000000000000000000000000000 --- 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a/multi_sessions_20251119_184004/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: 734 - 均值融合 (都低速): 734 - 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 18:40:16 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184004/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_184004/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 14fb9f50e87c4d89866338138385cb2dd6894c61..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,735 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159401.59998106956,-0.0007802177678967,-0.0017165008110578,-3.73549499273697e-05,0.0025765453895445,-0.0028359930858823,-0.0121561940343774,0.9999187694526346 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0.031930236490690336 0.10942102148615576 -0.0623494672038305 0.9915241015698879 -159408.943978 0.1287261948332331 -0.0753802373818852 0.09745278135925206 0.032228072030756415 0.1088336635375051 -0.06226630548692071 0.9915843344139694 diff --git a/multi_sessions_20251119_184004/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_184004/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index 5389df88b4ac37589d64e3dc2aeed930ebce4f9e..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/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: 159401.599981s - Vive 第一帧时间戳: 1763548807.482458s - 计算的 offset: -1763389405.882477s - 对齐公式: vive_aligned = vive_original + -1763389405.882477 - -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 18:40:16 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184004/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_184004/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 19acd17685f0740e1854f91f150c996cf61bbb32..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,735 +0,0 @@ -159401.59998106956 -0.003751329025191527 -0.0031730957724907345 -0.0021412215412484085 0.008648125263738394 0.0018588714815751526 -0.021653710176344432 0.99972639825196 -159401.6099677086 -0.0037892371574417827 -0.0032016998226146445 -0.002169021333712171 0.008642948658591562 0.001850607735699567 -0.021691698956641796 0.9997256348048037 -159401.62008810043 -0.0037811272412974634 -0.0032108749358322804 -0.002172748067095284 0.008645316093842968 0.0018590656216270402 -0.021712669593302498 0.9997251434088192 -159401.6299636364 -0.003952358580620499 -0.0032030073357672668 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87.3857347942701 diff --git a/multi_sessions_20251119_184004/session_002/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_184004/session_002/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 480dbe13e280fbd3e20f48c5aa23640da6dc9afb..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/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: 758 - 均值融合 (都低速): 758 - 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 18:40:35 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184004/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_184004/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 62a66dc8b6877963d14d9c71efb47738534aea43..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,759 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159420.62597703934,-0.0005359873347719,-0.0018501814618423,0.0004096416765751,0.0025164009261557,-0.0029378454612857,-0.0123395709082114,0.9999163823941608 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0.0248383295168375 0.1262205923040953 -0.07121541493166163 0.9891308225615698 diff --git a/multi_sessions_20251119_184004/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_184004/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index b18e5962d18f474161ea6800cc023a5fc3e54e31..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/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: 159420.625977s - Vive 第一帧时间戳: 1763548826.512490s - 计算的 offset: -1763389405.886513s - 对齐公式: vive_aligned = vive_original + -1763389405.886513 - -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 18:40:35 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184004/session_002/Vive_Poses/vive_data_tum.txt 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b/multi_sessions_20251119_184004/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 825d35fc62c468bc8fb81e13ed6960313924dcb3..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/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: 633 - 均值融合 (都低速): 633 - 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 18:40:55 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184004/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_184004/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 24e444f260c48af14dec38a694cbaf7f02c4424a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,634 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159442.19997906685,-0.000575692625876,-0.001628077474961,0.000229600282896,0.0027403364862,-0.0025511861848231,-0.0109198204651886,0.9999333675430584 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时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 159442.199979s - Vive 第一帧时间戳: 1763548848.082445s - 计算的 offset: -1763389405.882466s - 对齐公式: vive_aligned = vive_original + -1763389405.882466 - -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 18:40:55 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184004/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_184004/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 1d5141e4114bf8f8e12b377d3d4ba671bdcf1031..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,634 +0,0 @@ -159442.19997906685 -0.0033041150956556464 -0.0030679893275259128 -0.0020548729876066693 0.00904194603457635 0.002012519852052594 -0.020488195412911366 0.999747181453629 -159442.20999503136 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b/multi_sessions_20251119_184004/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 4d07909ef101c6ced5195e8592b13bc55f3470ed..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/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: 754 - 均值融合 (都低速): 754 - 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 18:41:12 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184004/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_184004/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index db20d01749680fc3eed5a0afc132ddb2392428b8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,755 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159457.66798210144,-3.166860023460366e-05,-0.0005854479284323,0.000426421950374,0.0025448719224049,-0.002808107835423,-0.0092351252907087,0.9999501740677624 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b/multi_sessions_20251119_184004/session_004/Vive_Poses/offset_info.txt deleted file mode 100644 index b87f1a4aefa6662f87e86f5143f6a60743cd73cb..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/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: 159457.667982s - Vive 第一帧时间戳: 1763548863.552545s - 计算的 offset: -1763389405.884563s - 对齐公式: vive_aligned = vive_original + -1763389405.884563 - -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 18:41:12 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184004/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_184004/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 5b145a36e3a0d7d080bf49490099c41251da1f71..0000000000000000000000000000000000000000 --- 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b/multi_sessions_20251119_184004/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index e5b7373f174b1a0ecd4ddac11855bee18927d40b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/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: 756 - 均值融合 (都低速): 756 - 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 18:41:30 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184004/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_184004/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index aa2d8d3f1e3d9b16a2895ab5a68190c90ffde482..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,757 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159475.4479830265,-0.0007663593560967,-0.0016170039080233,0.0003933309856908,0.0024660462643861,-0.0028771939148106,-0.012641261117225,0.9999129156523404 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-0.028453391064146804 0.9960067458700569 -159483.014023 0.048471862471186074 -0.026802387897833894 0.029085813308661133 0.020753409347268135 0.0816840430783233 -0.028256877951438646 0.9960414459023685 diff --git a/multi_sessions_20251119_184004/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_184004/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index 387eda7b619909039c2871ba4614a086f0042c40..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184004/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: 159475.447983s - Vive 第一帧时间戳: 1763548881.332480s - 计算的 offset: -1763389405.884497s - 对齐公式: vive_aligned = vive_original + -1763389405.884497 - -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 18:41:30 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff 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