diff --git a/multi_sessions_20251119_183831/collection_summary.txt b/multi_sessions_20251119_183831/collection_summary.txt new file mode 100644 index 0000000000000000000000000000000000000000..1773f72877f0e7a269e8f1e01cd409f8942255a5 --- /dev/null +++ b/multi_sessions_20251119_183831/collection_summary.txt @@ -0,0 +1,93 @@ +======================================== +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 18:38:33 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_183831 +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 18:38:33 CST + 输出目录: ./multi_sessions_20251119_183831/session_001 + 结束时间: 2025年 11月 19日 星期三 18:38:47 CST + 持续时间: 14秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_183831/session_001 + +========================================== +会话 2 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:38:52 CST + 输出目录: ./multi_sessions_20251119_183831/session_002 + 结束时间: 2025年 11月 19日 星期三 18:39:07 CST + 持续时间: 15秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_183831/session_002 + +========================================== +会话 3 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:39:11 CST + 输出目录: ./multi_sessions_20251119_183831/session_003 + 结束时间: 2025年 11月 19日 星期三 18:39:25 CST + 持续时间: 14秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_183831/session_003 + +========================================== +会话 4 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:39:29 CST + 输出目录: ./multi_sessions_20251119_183831/session_004 + 结束时间: 2025年 11月 19日 星期三 18:39:43 CST + 持续时间: 14秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_183831/session_004 + +========================================== +会话 5 信息: +========================================== + 开始时间: 2025年 11月 19日 星期三 18:39:48 CST + 输出目录: ./multi_sessions_20251119_183831/session_005 + 结束时间: 2025年 11月 19日 星期三 18:40:01 CST + 持续时间: 13秒 + 状态: 成功 + 数据验证: 通过 + 数据目录: ./multi_sessions_20251119_183831/session_005 + +========================================== +采集完成总结: +========================================== +完成时间: 2025年 11月 19日 星期三 18:40:01 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_183831/ +├─ session_001/ +├─ session_002/ +├─ session_003/ +├─ session_004/ +├─ session_005/ +└─ collection_summary.txt diff --git a/multi_sessions_20251119_183831/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_183831/session_001/Clamp_Data/clamp.csv new file mode 100644 index 0000000000000000000000000000000000000000..a9e779104c73ae2c24ca81590ac7a7e2761dac21 --- /dev/null +++ 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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: 722 + 均值融合 (都低速): 722 + 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 18:38:44 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183831/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183831/session_001/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..8f1bcb49664d9a2ae28c3d894cebd390e076af6c --- /dev/null +++ b/multi_sessions_20251119_183831/session_001/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,723 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +159309.41998004913,-0.0004031715508954,-0.0029216798331387,0.0004555641413894,0.0022023699563576,-0.0029131356219856,-0.0150089522154423,0.9998806901629904 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index 0000000000000000000000000000000000000000..6e1e610f3dab57095dc874f186dad4c2ba126017 --- /dev/null +++ b/multi_sessions_20251119_183831/session_001/Vive_Poses/offset_info.txt @@ -0,0 +1,18 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 159309.419980s + Vive 第一帧时间戳: 1763548715.302482s + 计算的 offset: -1763389405.882502s + 对齐公式: vive_aligned = vive_original + -1763389405.882502 + +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 18:38:44 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183831/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183831/session_001/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..2cfc5de97030ba526c89296fc43a7516d3e6bb56 --- /dev/null +++ b/multi_sessions_20251119_183831/session_001/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,722 @@ 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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: 795 + 均值融合 (都低速): 795 + 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 18:39:04 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183831/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183831/session_002/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..5880fca755eef61f2a698fd943440733b94778c7 --- /dev/null +++ b/multi_sessions_20251119_183831/session_002/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,796 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +159328.93598103523,0.0005315448275151,0.001040310288591,0.0007909847839808,0.001420979677863,-0.0032433901554729,-0.0036861227182596,0.9999869367828566 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b/multi_sessions_20251119_183831/session_003/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,37 @@ +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: 776 + 均值融合 (都低速): 776 + 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 18:39:22 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183831/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183831/session_003/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..125f786b6f370b287557adc4dfb9573fbc940469 --- /dev/null +++ b/multi_sessions_20251119_183831/session_003/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,777 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +159347.45198607445,-0.0002545528732072,-0.0015071996149289,0.0005373546872004,0.0025837449896541,-0.002779139601134,-0.010678344745327,0.999935784737403 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a/multi_sessions_20251119_183831/session_003/Vive_Poses/offset_info.txt b/multi_sessions_20251119_183831/session_003/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..2d5ae148e8d1694c9b32361e7245d26e2316b0d2 --- /dev/null +++ b/multi_sessions_20251119_183831/session_003/Vive_Poses/offset_info.txt @@ -0,0 +1,18 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 159347.451986s + Vive 第一帧时间戳: 1763548753.332540s + 计算的 offset: -1763389405.880553s + 对齐公式: vive_aligned = vive_original + -1763389405.880553 + +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 18:39:22 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183831/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183831/session_003/Vive_Poses/vive_data_tum.txt new file mode 100644 index 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index 0000000000000000000000000000000000000000..fc93e1e87b6b65af776af487086a5e539deb952a --- /dev/null +++ b/multi_sessions_20251119_183831/session_004/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,37 @@ +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: 767 + 均值融合 (都低速): 767 + 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 18:39:40 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183831/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183831/session_004/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..63f1f6f9c88e0a37c55da847f54fd90a6b992e98 --- /dev/null +++ b/multi_sessions_20251119_183831/session_004/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,768 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +159365.467979908,-0.0006348048284354,-0.0017415631905117,0.000293925841265,0.0026145358756702,-0.0026949585139436,-0.0125444516084501,0.9999142653920916 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序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183831/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183831/session_004/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..6b5a565488474ea038bcadfc5b9b29016c56b9f0 --- /dev/null +++ b/multi_sessions_20251119_183831/session_004/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,768 @@ +159365.467979908 -0.003173139884404083 -0.0035323896254929573 -0.0018169813697441444 0.008746612330054299 0.0019162016447109077 -0.021968666076845816 0.9997185617236526 +159365.4780421257 -0.003161348215791712 -0.00352561579021859 -0.0018554664132280282 0.008755630285945337 0.001971673695625517 -0.022024087037017907 0.9997171555151586 +159365.48803067207 -0.0031559768178277964 -0.0035322951959503475 -0.001856395740733692 0.00874260813912105 0.001977765617893881 -0.022055114281941023 0.9997165734247366 +159365.4979724884 -0.003032623931430528 -0.003567852290838477 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a/multi_sessions_20251119_183831/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_183831/session_005/Merged_Trajectory/merge_stats.txt new file mode 100644 index 0000000000000000000000000000000000000000..116438c35d1d0c16b8b728f7696a724268c9f391 --- /dev/null +++ b/multi_sessions_20251119_183831/session_005/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,37 @@ +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: 763 + 均值融合 (都低速): 763 + 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 18:39:58 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183831/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183831/session_005/Merged_Trajectory/merged_trajectory.csv new file mode 100644 index 0000000000000000000000000000000000000000..35c0aa0f4737160a1377957c052f7d3c6d48599a --- /dev/null +++ b/multi_sessions_20251119_183831/session_005/Merged_Trajectory/merged_trajectory.csv @@ -0,0 +1,764 @@ +timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W +159383.64397907257,-0.0004424802005794,-0.0010119241832435,0.0004956491139386,0.002501652074139,-0.0029139746782097,-0.0097525794874862,0.9999450673321084 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序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183831/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183831/session_005/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e6eb4a1da7a7e4122fd5f7f2409e9dfdc305867 --- /dev/null +++ b/multi_sessions_20251119_183831/session_005/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,764 @@ +159383.64397907257 -0.003147071473569185 -0.002566607316958549 -0.0017741059253943107 0.008568551898314876 0.001362220844784193 -0.019273677407474085 0.9997765998621535 +159383.65386891365 -0.0029944001677502247 -0.0024705861373961416 -0.0017240441505575244 0.008601463222181737 0.0013883587126283451 -0.01921038543962588 0.9997774994376417 +159383.66394209862 -0.002988872326231351 -0.0024666042443620114 -0.0017289723203501657 0.008611862885595614 0.0014121328650519326 -0.01921333047217338 0.9997773200221027 +159383.67393755913 -0.0030068006778667528 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