diff --git a/multi_sessions_20251119_181730/collection_summary.txt b/multi_sessions_20251119_181730/collection_summary.txt deleted file mode 100644 index 10ba7927b27436e00d46dbdf40465489f8180152..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/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 18:17:31 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_181730 -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 18:17:31 CST - 输出目录: ./multi_sessions_20251119_181730/session_001 - 结束时间: 2025年 11月 19日 星期三 18:17:46 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181730/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:17:52 CST - 输出目录: ./multi_sessions_20251119_181730/session_002 - 结束时间: 2025年 11月 19日 星期三 18:18:12 CST - 持续时间: 20秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181730/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:18:16 CST - 输出目录: ./multi_sessions_20251119_181730/session_003 - 结束时间: 2025年 11月 19日 星期三 18:18:29 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181730/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:18:33 CST - 输出目录: ./multi_sessions_20251119_181730/session_004 - 结束时间: 2025年 11月 19日 星期三 18:18:49 CST - 持续时间: 16秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181730/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:18:53 CST - 输出目录: ./multi_sessions_20251119_181730/session_005 - 结束时间: 2025年 11月 19日 星期三 18:19:10 CST - 持续时间: 17秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181730/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:19:10 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_181730/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_181730/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_181730/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 43dcfb8f796088934e5921b3d18b21b137aa299c..0000000000000000000000000000000000000000 --- 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-158056.007301000 87.75845985808992 -158056.012310000 87.76753061726019 -158056.017690000 87.76753061726019 -158056.022300000 87.76753061726019 -158056.027367000 87.76753061726019 -158056.032880000 87.76753061726019 -158056.037414000 87.76753061726019 -158056.042382000 87.76753061726019 -158056.047311000 87.76753061726019 -158056.052352000 87.76753061726019 -158056.057299000 87.76753061726019 diff --git a/multi_sessions_20251119_181730/session_001/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_181730/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index f3a6db7c41aa7977fa49e574f4d153a9b0e255c6..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/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: 780 - 均值融合 (都低速): 780 - 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 18:17:43 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181730/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181730/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index ec6d2dd6777d0122f6668c4307a9795f18f2dd6e..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,781 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158048.2494559288,0.0005315064164448,0.0006506426391616,0.0001622974555087,-0.0017905494045913,-0.0051940776764862,0.0033797863612797,0.999979196050634 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a/multi_sessions_20251119_181730/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181730/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index b826af1477ca4d0eeb21ef4086a56637681ef2d2..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/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: 158048.249456s - Vive 第一帧时间戳: 1763547454.137404s - 计算的 offset: -1763389405.887949s - 对齐公式: vive_aligned = vive_original + -1763389405.887949 - -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 18:17:43 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181730/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181730/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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-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: 771 - 均值融合 (都低速): 771 - 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 18:18:07 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181730/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181730/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 8a7ede527e56c2eaecdf0e8c3c6958ab1f8a54e7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,772 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158072.239454031,0.0001164892619085,0.0007971298993628,-0.0002736662197267,-0.0012914552589849,-0.0049813975646057,0.0032124434562322,0.9999815988450278 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-0.0399689986942979 0.06119373096164796 0.009100448592435561 0.15885929513337269 -0.02244998153445854 0.9870040043050722 -158079.945455 0.09611690417445684 -0.039626765811984585 0.06094573043820717 0.008904569272431362 0.15816068674898193 -0.022243370211771946 0.9871226561551432 diff --git a/multi_sessions_20251119_181730/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181730/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index 9d6f1f7b5b6194d280684732ccd0cd85692ec8ae..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/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: 158072.239454s - Vive 第一帧时间戳: 1763547478.117367s - 计算的 offset: -1763389405.877913s - 对齐公式: vive_aligned = vive_original + -1763389405.877913 - -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 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b/multi_sessions_20251119_181730/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index c7992928863367a11bcbc000af1ef8deca25c2f8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/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: 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 18:18:26 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181730/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181730/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index ffeb652a18d1e03fe6723e07dd0b32cf6cd0d325..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/session_003/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 -158091.57145905495,0.003620411723375,0.0003875667858856,0.0006559240432951,-0.0027185361661304,-0.0040918321229812,0.0006322409729253,0.9999877332959356 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-0.0036423256870141735 0.05713542528157712 -0.04582926400021335 0.9973073524258617 -158099.235462 0.06044278226360143 -0.04377228282008652 0.054136052126571445 -0.003189506143554294 0.05684253449764364 -0.045559850218202726 0.9973379835193982 diff --git a/multi_sessions_20251119_181730/session_003/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181730/session_003/Vive_Poses/offset_info.txt deleted file mode 100644 index 6685e9aee155cf6a989310712a7896a633970cb1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/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: 158091.571459s - Vive 第一帧时间戳: 1763547497.457554s - 计算的 offset: -1763389405.886095s - 对齐公式: vive_aligned = vive_original + -1763389405.886095 - -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 18:18:26 -设备标签: main -XV 序列号: 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b/multi_sessions_20251119_181730/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 73e8d3428668d347eff2f3069d92ff9975930045..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/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: 822 - 均值融合 (都低速): 822 - 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 18:18:46 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181730/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181730/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 9fa77c7e32ee20e689886ce0fd8b410fc5049b94..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,823 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158110.565459013,0.0001714916505579,0.00114576062923,0.0006929743438847,-0.0026339965216141,-0.0044100276996246,0.0024463594175786,0.9999838143908194 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-============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158110.565459s - Vive 第一帧时间戳: 1763547516.447422s - 计算的 offset: -1763389405.881963s - 对齐公式: vive_aligned = vive_original + -1763389405.881963 - -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 18:18:46 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181730/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181730/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 6481354a2a9e1a7b5ed66ed7dc70f105f7298d6d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,822 +0,0 @@ -158110.56545901299 -0.0013606964705330793 0.0014700292033037045 -0.0006463748534187385 -0.0020318047339781486 -0.0002125323028869164 0.002711996272497268 0.9999942358212678 -158110.57556390762 -0.0013753876456977232 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-158139.941113000 87.65861827175821 diff --git a/multi_sessions_20251119_181730/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_181730/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 2afdc9b291f77cf200855c272e35bd633081e7f9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/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: 773 - 均值融合 (都低速): 773 - 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 18:19:07 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181730/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181730/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 889a1b268d071d3ca2cfdf2d8e25162c76dd92f4..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,774 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158132.20746302605,0.0006998337848858,0.000539490521792,0.0007213504324425,-0.0023853520857331,-0.0043423843506694,0.0004917053918475,0.9999876059328866 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vive_original + -1763389405.880040 - -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 18:19:07 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181730/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181730/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index b531a97c6b522c5b90a146ec1cb614a92e39f8e1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181730/session_005/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,774 +0,0 @@ -158132.20746302605 -0.0006702789804720055 0.0005886718735547182 -0.000336250257044721 -0.002023694317884542 -0.00013048182580923593 0.0005185856375400935 0.9999978093499693 -158132.21744942665 -0.0006334826397248611 0.0006151677592001113 -0.00032713299621464317 -0.002005510042946773 -0.00013151967755990578 0.0005679218481454614 0.99999781904603 -158132.22736620903 -0.0006683618588344958 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