diff --git a/multi_sessions_20251119_184204/collection_summary.txt b/multi_sessions_20251119_184204/collection_summary.txt deleted file mode 100644 index 634cc149136a2132062b5cc06a34bf24bfed372c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/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 18:42:05 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_184204 -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 18:42:05 CST - 输出目录: ./multi_sessions_20251119_184204/session_001 - 结束时间: 2025年 11月 19日 星期三 18:42:17 CST - 持续时间: 12秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_184204/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:42:22 CST - 输出目录: ./multi_sessions_20251119_184204/session_002 - 结束时间: 2025年 11月 19日 星期三 18:42:35 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_184204/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:42:38 CST - 输出目录: ./multi_sessions_20251119_184204/session_003 - 结束时间: 2025年 11月 19日 星期三 18:42:51 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_184204/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:42:55 CST - 输出目录: ./multi_sessions_20251119_184204/session_004 - 结束时间: 2025年 11月 19日 星期三 18:43:10 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_184204/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:43:14 CST - 输出目录: ./multi_sessions_20251119_184204/session_005 - 结束时间: 2025年 11月 19日 星期三 18:43:29 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_184204/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:43:29 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_184204/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_184204/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_184204/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index b81fa16471c3ee63f5e70486ecac9b2e9edc55d8..0000000000000000000000000000000000000000 --- 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-159528.181668000 87.43127506757487 -159528.184642000 87.43127506757487 -159528.188039000 87.42216892110109 -159528.193271000 87.42216892110109 -159528.198118000 87.43127506757487 -159528.203288000 87.43127506757487 -159528.208020000 87.42216892110109 -159528.215886000 87.43127506757487 -159528.219634000 87.43127506757487 -159528.223042000 87.43127506757487 -159528.230931000 87.43127506757487 -159528.234625000 87.43127506757487 -159528.237997000 87.43127506757487 -159528.243209000 87.43127506757487 -159528.248498000 87.43127506757487 -159528.253014000 87.42216892110109 diff --git a/multi_sessions_20251119_184204/session_001/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_184204/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index c6558bc253826fc59b34fe75ac1a411cbbe93a79..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/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: 600 - 均值融合 (都低速): 600 - 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 18:42:15 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184204/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_184204/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index a228e3469308df08ea7204151b48e673fb1ec4e8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,601 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159522.24997591972,0.0003550689070244,-0.0008078325630596,0.000456011048616,0.00336989538218,-0.0025893854932335,-0.0091027532686537,0.9999495381122044 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159522.249976s - Vive 第一帧时间戳: 1763548928.132525s - 计算的 offset: -1763389405.882549s - 对齐公式: vive_aligned = vive_original + -1763389405.882549 - -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 18:42:15 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184204/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_184204/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 1c315963acc742e6a94393ad7b1cb4c44f50be09..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,601 +0,0 @@ -159522.24997591972 -0.0020165690938740988 -0.0024216924684719934 -0.0014110918645786434 0.010171089570058552 0.0020261168535544343 -0.018450574973175215 0.9997759849439338 -159522.26000118256 -0.002007531670373 -0.002416734130272795 -0.0013560503067234593 0.010192679307632986 0.0020141538599638587 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87.16680983538102 -159544.607268000 87.16680983538102 -159544.612521000 87.16680983538102 -159544.617293000 87.15767606402616 -159544.622257000 87.16680983538102 -159544.628970000 87.16680983538102 -159544.632240000 87.16680983538102 -159544.637608000 87.16680983538102 diff --git a/multi_sessions_20251119_184204/session_002/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_184204/session_002/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index e042e0eb9cbb86d160fbfbaee07e11170c63f4e6..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/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: 741 - 均值融合 (都低速): 741 - 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 18:42:32 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184204/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_184204/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index d1876bff89ef6c4e75299e8d61b58d827b0d3b3b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,742 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159537.22597694397,-0.0008436946391727,-0.0014027362637637,0.0003577563126146,0.0024179017211152,-0.0029360489195879,-0.0111424661186593,0.9999306870062562 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@@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 159537.225977s - Vive 第一帧时间戳: 1763548943.112423s - 计算的 offset: -1763389405.886446s - 对齐公式: vive_aligned = vive_original + -1763389405.886446 - -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 18:42:32 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184204/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_184204/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 5231ffbbafa36d892dfedbbad6673850f2a9c090..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/session_002/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,741 +0,0 @@ -159537.22597694397 -0.0039065203231985896 -0.002918595519023324 -0.0020406363252845265 0.0086215582254925 0.001615696769636015 -0.020606349332916704 0.9997491868588255 -159537.23600578308 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-============================================================ - -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: 710 - 均值融合 (都低速): 710 - 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 18:42:49 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184204/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_184204/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 720340c53644862f5fca850e312f1140108dfaec..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,711 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159554.52199292183,-0.0003403401391683,-0.0017417282601544,0.0001580951835356,0.0026884662770147,-0.0029077493894211,-0.0120729238922027,0.999919277567574 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-159561.619981 0.050382299640452315 -0.07006500600330297 0.09130007394805618 0.01939234583926803 0.03329368586547321 -0.0802778327551374 0.9960275784196337 -159561.621978 0.05016221771852098 -0.06980747077499795 0.09106156052358506 0.019594508379277335 0.032986956081426586 -0.08019979867220765 0.996040113781967 -159561.623978 0.04994308237675113 -0.06955080726659614 0.09082179641371001 0.01979892817879919 0.032683672902325656 -0.0801229707093384 0.9960522524111348 diff --git a/multi_sessions_20251119_184204/session_003/Vive_Poses/offset_info.txt b/multi_sessions_20251119_184204/session_003/Vive_Poses/offset_info.txt deleted file mode 100644 index 7c7b90b7b1208d5405fbd6dcb895ee9504b4aa59..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/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: 159554.521993s - Vive 第一帧时间戳: 1763548960.402476s - 计算的 offset: -1763389405.880483s - 对齐公式: vive_aligned = vive_original + -1763389405.880483 - -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 18:42:49 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184204/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_184204/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 1d7bfc33bc2fe9381e846656ad9497c83cb10e24..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,711 +0,0 @@ -159554.52199292183 -0.003068109256276652 -0.003284588021480333 -0.0015998882711835837 0.0089209723284448 0.0016440022412648656 -0.02144870937428226 0.9997287964120687 -159554.5320367813 -0.003169864102863379 -0.003349730539527202 -0.0018261816212775221 0.008899633876501223 0.0017515003805680036 -0.021544326233829035 0.9997267480518922 -159554.54196286201 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a/multi_sessions_20251119_184204/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: 815 - 均值融合 (都低速): 815 - 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 18:43:07 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184204/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_184204/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 0de8bbbe73d29223f9be2eeebd44594f72d79bb9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,816 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159571.30197906494,-0.0002001295805712,-0.0014787344318736,0.0004592576989737,0.0023285791418257,-0.0029544198377536,-0.011120942586318,0.9999310845046244 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-============================================================ - -对齐参数: - SLAM 第一帧时间戳: 159571.301979s - Vive 第一帧时间戳: 1763548977.182533s - 计算的 offset: -1763389405.880554s - 对齐公式: vive_aligned = vive_original + -1763389405.880554 - -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 18:43:07 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184204/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_184204/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 11515f6bd38e2e444309824bc32aedb754910d27..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,816 +0,0 @@ -159571.30197906494 -0.002937623084514368 -0.0030229672921006498 -0.0015529540990584217 0.008364711613655656 0.0015661632638852836 -0.020626856732926253 0.9997510247624508 -159571.3120560646 -0.002903946330762408 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a/multi_sessions_20251119_184204/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: 823 - 均值融合 (都低速): 823 - 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 18:43:25 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184204/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_184204/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index a1a89cf1ba698a90426ce7dfe6573adf45e801fe..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,824 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159589.82199192047,-0.0006562895252498,-0.0018731925125226,-6.187347183698208e-05,0.0025420743326857,-0.0028684812883179,-0.0126970340518093,0.9999120436315752 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SLAM 第一帧时间戳: 159589.821992s - Vive 第一帧时间戳: 1763548995.702499s - 计算的 offset: -1763389405.880507s - 对齐公式: vive_aligned = vive_original + -1763389405.880507 - -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 18:43:25 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_184204/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_184204/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 8ced40a8f00312b1cb779a528da1d03915df9f54..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_184204/session_005/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,823 +0,0 @@ -159589.82199192047 -0.0036606952962949385 -0.003567256592724371 -0.002136200660345571 0.008568440001043646 0.0017441386923562929 -0.02224913271892839 0.9997142171187854 -159589.83207178116 -0.0036718898249749887 -0.0035879749186353126 -0.0021973849790388987 0.008561226549759837 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