diff --git a/multi_sessions_20251119_190548/collection_summary.txt b/multi_sessions_20251119_190548/collection_summary.txt deleted file mode 100644 index 9eb3e42814c94904e59cbfeee0ddb773df7ee9d6..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/collection_summary.txt +++ /dev/null @@ -1,153 +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 19:05:50 CST -设备模式: 单设备 -设备数量: 1 -计划会话数: 10 -会话间隔: 1秒 -摘要目录: ./multi_sessions_20251119_190548 -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 19:05:50 CST - 输出目录: ./multi_sessions_20251119_190548/session_001 - 结束时间: 2025年 11月 19日 星期三 19:06:03 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190548/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:06:05 CST - 输出目录: ./multi_sessions_20251119_190548/session_002 - 结束时间: 2025年 11月 19日 星期三 19:06:18 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190548/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:06:21 CST - 输出目录: ./multi_sessions_20251119_190548/session_003 - 结束时间: 2025年 11月 19日 星期三 19:06:34 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190548/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:06:36 CST - 输出目录: ./multi_sessions_20251119_190548/session_004 - 结束时间: 2025年 11月 19日 星期三 19:06:49 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190548/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:06:52 CST - 输出目录: ./multi_sessions_20251119_190548/session_005 - 结束时间: 2025年 11月 19日 星期三 19:07:05 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190548/session_005 - -========================================== -会话 6 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:07:07 CST - 输出目录: ./multi_sessions_20251119_190548/session_006 - 结束时间: 2025年 11月 19日 星期三 19:07:21 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190548/session_006 - -========================================== -会话 7 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:07:23 CST - 输出目录: ./multi_sessions_20251119_190548/session_007 - 结束时间: 2025年 11月 19日 星期三 19:07:37 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190548/session_007 - -========================================== -会话 8 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:07:39 CST - 输出目录: ./multi_sessions_20251119_190548/session_008 - 结束时间: 2025年 11月 19日 星期三 19:07:51 CST - 持续时间: 12秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190548/session_008 - -========================================== -会话 9 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:07:56 CST - 输出目录: ./multi_sessions_20251119_190548/session_009 - 结束时间: 2025年 11月 19日 星期三 19:08:10 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190548/session_009 - -========================================== -会话 10 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:08:12 CST - 输出目录: ./multi_sessions_20251119_190548/session_010 - 结束时间: 2025年 11月 19日 星期三 19:08:25 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190548/session_010 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 19:08:25 CST -成功会话数: 10 -失败会话数: 0 -总计划会话数: 10 -实际完成会话数: 10 -成功率: 100% - -数据目录结构: -./multi_sessions_20251119_190548/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -├─ session_006/ -├─ session_007/ -├─ session_008/ -├─ session_009/ -├─ session_010/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_190548/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_190548/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index ba62c7a8ae342fdd4974c46934f1972f1cc8bce8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_001/Clamp_Data/clamp.csv +++ /dev/null @@ -1,1448 +0,0 @@ -timestamp,clamp -160945.854664,87.68585928849235 -160945.858678,87.68585928849235 -160945.863804,87.68585928849235 -160945.868689,87.68585928849235 -160945.874858,87.67677990699939 -160945.879371,87.68585928849235 -160945.883685,87.68585928849235 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b/multi_sessions_20251119_190548/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index bc299676f1a77c5e3854b4b028c286ed2a43a153..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/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: 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 19:06:00 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190548/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index c3db03e41f1dd412b8061eb308ab7580d241d081..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,723 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -160945.8517730236,0.001110747469599,-2.298511411954625e-05,0.0010289775799407,-0.0012768022240617,-0.0052984329658532,1.3357342452874423e-06,0.9999851480809115 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-160953.081772 0.036119000427296016 0.0075881591155287096 0.0542634971149868 -0.004529021346323762 -0.005740906356910464 0.008770020732062058 0.9999348062229881 -160953.083749 0.03594792270970256 0.0076727952715152144 0.05397451856660442 -0.004619193060157729 -0.0057136542361804505 0.008981246930679906 0.9999326749408245 -160953.085773 0.035772493713340514 0.007757127214682098 0.053680337843227725 -0.00472253864593609 -0.005680817807777261 0.00919686551939481 0.9999304193804641 diff --git a/multi_sessions_20251119_190548/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190548/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index 59fa4adc7462768fe51778856a917e5c7b11399d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/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: 160945.851773s - Vive 第一帧时间戳: 1763550351.737684s - 计算的 offset: -1763389405.885911s - 对齐公式: vive_aligned = vive_original + -1763389405.885911 - -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 19:06:00 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190548/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 45036173133633141162e3bdb3b09f90cf030f64..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,723 +0,0 @@ -160945.8517730236 0.0003250242882489873 0.0003407357072009656 0.0001794787917366776 -0.000402708731918549 -0.00034929443292808877 -4.0144800729240685e-05 0.9999998571037254 -160945.86164450645 0.0003469447364032041 0.0003578042693035427 0.0001876809999819311 -0.00040726340749350904 -0.0003391093250954429 4.250078852104413e-06 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87.33105499399606 -160968.053851000 87.33105499399606 -160968.058078000 87.33105499399606 -160968.063404000 87.33105499399606 -160968.068063000 87.33105499399606 -160968.075419000 87.33105499399606 -160968.078880000 87.33105499399606 -160968.083061000 87.33105499399606 -160968.088048000 87.33105499399606 -160968.096304000 87.33105499399606 -160968.099833000 87.33105499399606 -160968.103067000 87.32193835760535 -160968.108151000 87.33105499399606 -160968.113111000 87.33105499399606 -160968.118038000 87.33105499399606 diff --git a/multi_sessions_20251119_190548/session_002/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190548/session_002/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 86ec7f9c02bcefa9ae37f4b138da3124bd539c2b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/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: 727 - 均值融合 (都低速): 727 - 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 19:06:15 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190548/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index be396cba1da220fdc5d7cf0244c16d834be0edcd..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,728 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -160960.8417749405,0.0008446625131226,-0.0003785445963008,0.0012784543866089,-0.0011880492737414,-0.0057383831482546,-0.0012540967310426,0.999982043208355 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0.055612647774681216 -0.0518283541380522 0.058454056035224085 -0.04536590324542491 0.05793779382591155 -0.09678000813344012 0.9925818741519534 diff --git a/multi_sessions_20251119_190548/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190548/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index bdbda035257de78a93af1a78fb76ff5d9b14e426..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/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: 160960.841775s - Vive 第一帧时间戳: 1763550366.727513s - 计算的 offset: -1763389405.885738s - 对齐公式: vive_aligned = vive_original + -1763389405.885738 - -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 19:06:15 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git 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86.76402594910616 -160984.577436000 86.77320050107619 -160984.582475000 86.77320050107619 -160984.588524000 86.77320050107619 -160984.593004000 86.77320050107619 -160984.597472000 86.77320050107619 -160984.602472000 86.77320050107619 diff --git a/multi_sessions_20251119_190548/session_003/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190548/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index e5db4aa8cf50c38c7cc2ac26b8175924a7fa44af..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/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: 714 - 均值融合 (都低速): 714 - 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 19:06:32 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190548/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index dfc820237741adfe52bbacf9aa9769b9d53cb606..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,715 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -160977.46177697182,0.001283538519652,0.0014396347406781,0.0012146398385131,-0.0017278096134329,-0.0067354702989885,0.004965818947337,0.9999634937116322 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0.0134655027039144 0.07824939958735588 -0.04224037923079011 0.9959475197336394 -160984.603774 0.040854045178227244 -0.03379885736241848 0.034145730984281725 0.013386785068941429 0.07788724294579383 -0.04208733594714343 0.9959834474150127 diff --git a/multi_sessions_20251119_190548/session_003/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190548/session_003/Vive_Poses/offset_info.txt deleted file mode 100644 index 07518a0c956a1db8a17ec6e0fea0d03fd7ec5594..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/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: 160977.461777s - Vive 第一帧时间戳: 1763550383.347574s - 计算的 offset: -1763389405.885797s - 对齐公式: vive_aligned = vive_original + -1763389405.885797 - -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 19:06:32 -设备标签: main -XV 序列号: 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a/multi_sessions_20251119_190548/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: 672 - 均值融合 (都低速): 672 - 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 19:06:46 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190548/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 23cccbf5a85b30a9596fa1706ace7b4d886997c2..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,673 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -160992.7477800846,0.0048019162914478,-0.0025798050581748,0.0011347990843834,-0.0016870080540063,-0.005050060683774,-0.0086215965842439,0.9999486581636352 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0.0914328046428093 -0.010025352082017706 0.14503925696605893 -0.08402120165299333 0.9858009656757049 -160999.469775 0.11751583099820148 -0.09546997076067194 0.09120380787975098 -0.00987574300889393 0.14466696013657224 -0.08377455166609571 0.9858781693688172 diff --git a/multi_sessions_20251119_190548/session_004/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190548/session_004/Vive_Poses/offset_info.txt deleted file mode 100644 index c3aa6207ec49c8907e347403c1837f2ca0809976..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/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: 160992.747780s - Vive 第一帧时间戳: 1763550398.627497s - 计算的 offset: -1763389405.879717s - 对齐公式: vive_aligned = vive_original + -1763389405.879717 - -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 19:06:46 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190548/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 6d90d19c00ccce6e5ceab3d1a9733fe064aeaf3c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,673 +0,0 @@ -160992.7477800846 0.004163208156905851 -0.0022962769501289767 0.00017137446525278602 -0.0004168243731858278 0.00012278837547752484 -0.008439896811661386 0.9999642890234957 -160992.75771665573 0.004026925005440468 -0.0023368992595424035 0.0002731835156081823 -0.00047562276059976886 4.11324555946876e-05 -0.008385258453677399 0.9999647291438711 -160992.76785254478 0.003921947395256364 -0.0022802700281034692 0.0002769565566186438 -0.0005765106093200261 4.203696725258729e-05 -0.008455913454225465 0.9999640810529473 -160992.777926445 0.0038874055188578283 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a/multi_sessions_20251119_190548/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190548/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 144a849fe8b0b7ead5047840dd5917df36ca1b8f..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/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: 687 - 均值融合 (都低速): 687 - 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 19:07:02 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190548/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 7aaf6c58c3f1846778a919a7d0097f5db451d3fc..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,688 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161008.4897789955,0.0010641070442358,-0.0002657310927361,0.0013772476477106,-0.0014424360794733,-0.0059876575017001,-0.00158116583759,0.9999797834208416 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-============================================================ - -对齐参数: - SLAM 第一帧时间戳: 161008.489779s - Vive 第一帧时间戳: 1763550414.377705s - 计算的 offset: -1763389405.887926s - 对齐公式: vive_aligned = vive_original + -1763389405.887926 - -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 19:07:02 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190548/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 39201db36e074f1c8679d2f43338ae1e5a3356b3..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_005/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,688 +0,0 @@ -161008.4897789955 0.000785174048213752 0.00018177929381107635 0.0006751063577145123 -7.967789265669448e-05 -0.0011350631147038464 -0.0014886646745281393 0.9999982445787822 -161008.49966979027 0.0007823988100918444 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a/multi_sessions_20251119_190548/session_006/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: 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 19:07:18 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_006/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190548/session_006/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 98506e65daeb829e47a3aa02e2bb5620e6243eff..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_006/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 -161022.89977502823,0.0012600968166243,0.0004298499918055,0.0013058062790521,-0.0019411740599626,-0.0060249974520043,0.0012388406774076,0.9999791980450136 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-161030.605778 0.11123684333728732 -0.03048444933101238 0.027803226799985977 -0.07271427538538879 0.1564231444772416 -0.05183357827892034 0.9836451159792503 -161030.607771 0.11086460548466526 -0.030308426743852635 0.02762111627573971 -0.07293223432118012 0.15607573015370038 -0.05171305875199352 0.9836905078369023 diff --git a/multi_sessions_20251119_190548/session_006/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190548/session_006/Vive_Poses/offset_info.txt deleted file mode 100644 index 111a01b8004397cfa086a3da77c529b05533f1b8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_006/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: 161022.899775s - Vive 第一帧时间戳: 1763550428.777498s - 计算的 offset: -1763389405.877723s - 对齐公式: vive_aligned = vive_original + -1763389405.877723 - -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 19:07:18 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_006/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190548/session_006/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 92e4c947680eac55c1fcce42fda765c30f741dd1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_006/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,772 +0,0 @@ -161022.89977502823 0.00027957197910799536 0.001128748276128896 0.0005246503203642064 -0.0006885975333605727 -0.0010257415194690708 0.0012680642093554457 0.9999984328492387 -161022.90975022316 0.0002685826989950735 0.0011494544440077178 0.000519357625762331 -0.000562307117772771 -0.0011468459194021912 0.0012470086648240636 0.9999984067609969 -161022.91976380348 0.0003270263728876871 0.0012140534619653988 0.0005404316752226849 -0.0005577913885975998 -0.0011620068173353814 0.0013333696609418846 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-161046.405270000 87.36751200791944 diff --git a/multi_sessions_20251119_190548/session_007/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190548/session_007/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 5b3a1854674d9e2d28c6a34f2f2ecbc2ebfcfb9c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_007/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: 805 - 均值融合 (都低速): 805 - 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 19:07:34 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_007/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190548/session_007/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index ba8fa7d73c5da942db01ff305fcb14c3e90e30a6..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_007/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,806 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161038.35977101326,0.0015785484446315,-0.0001079220998934,0.0016282825864589,-0.0019841427651009,-0.005828325748,-0.00122935799642,0.9999802910434684 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a/multi_sessions_20251119_190548/session_007/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190548/session_007/Vive_Poses/offset_info.txt deleted file mode 100644 index e6d66a81d6c087873a3cff0e69e3519aa8b22618..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_007/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: 161038.359771s - Vive 第一帧时间戳: 1763550444.237605s - 计算的 offset: -1763389405.877834s - 对齐公式: vive_aligned = vive_original + -1763389405.877834 - -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 19:07:34 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_007/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190548/session_007/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 8ecdd78a9356388f35c3949a29f235a26b4a177d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_007/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,806 +0,0 @@ -161038.35977101326 0.0012652866364089438 0.000641474626096564 0.00114965419154837 -0.000524446817655555 -0.0008286215146368028 -0.0010953842013814228 0.9999989192371022 -161038.36968183517 0.0012519985012635348 0.0006365121831972314 0.0011412018798295557 -0.0005172903537108574 -0.0008153117344002725 -0.0011096251188905109 0.9999989182041954 -161038.37958574295 0.001292245863435168 0.0005984856484884092 0.0010941209245979738 -0.000609335837994261 -0.0007958434999833883 -0.001144231552498984 0.9999988430378878 -161038.38966107368 0.0013981033871911935 0.0006039910239209544 0.0012323166359452322 -0.000588211004239818 -0.0008552091853455501 -0.0011938387164441035 0.9999987486863087 -161038.39968156815 0.0013491100631098513 0.0006144070758896897 0.0012014983602192811 -0.0006539471167928145 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a/multi_sessions_20251119_190548/session_008/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190548/session_008/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 43fc76861f01415c13c4cb2ec61fee72d41271bb..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_008/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: 708 - 均值融合 (都低速): 708 - 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 19:07:49 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_008/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190548/session_008/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 9aed0e04bade7bb6a61105e527d852098804fd06..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_008/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,709 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161054.60577392578,0.0017692396834701,-0.0002303611384498,0.0015266506779357,-0.0014543995567033,-0.0055474749791471,-0.0015137924834695,0.9999824091830828 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-0.028516298056532 0.9950867059923219 -161061.685775 0.07256913166619922 -0.05147492911410608 0.028496834860328987 0.01587853125384348 0.09346461489589425 -0.028355498600457302 0.9950920579055499 diff --git a/multi_sessions_20251119_190548/session_008/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190548/session_008/Vive_Poses/offset_info.txt deleted file mode 100644 index b3e5e1b89c37ef8c9a2f1200e23f41e777934773..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_008/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: 161054.605774s - Vive 第一帧时间戳: 1763550460.487527s - 计算的 offset: -1763389405.881753s - 对齐公式: vive_aligned = vive_original + -1763389405.881753 - -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 19:07:49 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git 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87.5131874272411 -161080.279021000 87.5131874272411 diff --git a/multi_sessions_20251119_190548/session_009/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190548/session_009/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index dcdb3739db227760099fbe4177f9e8849cd3650c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_009/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: 736 - 均值融合 (都低速): 736 - 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 19:08:07 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_009/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190548/session_009/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index e0fcbac76f1895f0833e2a05bacdab677b8c5b7a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_009/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,737 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161072.9117770195,0.0012192087733959,-0.000280135508241,0.0014974287957792,-0.0017860864855797,-0.0056169654673641,-0.0010025365920918,0.9999821270974728 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a/multi_sessions_20251119_190548/session_009/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190548/session_009/Vive_Poses/offset_info.txt deleted file mode 100644 index 622eed04e6141d9ae2c954ecb6ec61ce3a222c11..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_009/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: 161072.911777s - Vive 第一帧时间戳: 1763550478.797496s - 计算的 offset: -1763389405.885719s - 对齐公式: vive_aligned = vive_original + -1763389405.885719 - -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 19:08:07 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_009/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190548/session_009/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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-161094.965027000 86.86489397516688 -161094.968517000 86.86489397516688 -161094.973611000 86.86489397516688 -161094.978540000 86.86489397516688 -161094.984583000 86.86489397516688 -161094.988519000 86.87405811544221 -161094.993520000 86.87405811544221 -161094.999575000 86.86489397516688 -161095.003522000 86.86489397516688 diff --git a/multi_sessions_20251119_190548/session_010/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190548/session_010/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index c2ff7987d3705dd11ba3c001071e8d3eb0c697e7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_010/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: 704 - 均值融合 (都低速): 704 - 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 19:08:22 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_010/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190548/session_010/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 547ead56b48ea6f63a3e978094ad81a03527c5b2..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_010/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,705 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161087.96178007126,0.0006853993362943,-0.0010821098449697,0.0011321250902858,-0.0015053334080045,-0.0053740520417294,-0.0035663309539756,0.9999780671692304 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0.9883700075566559 diff --git a/multi_sessions_20251119_190548/session_010/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190548/session_010/Vive_Poses/offset_info.txt deleted file mode 100644 index 6d552c6cf16a428e97e8f39e62abafd9e5011051..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190548/session_010/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: 161087.961780s - Vive 第一帧时间戳: 1763550493.847519s - 计算的 offset: -1763389405.885739s - 对齐公式: vive_aligned = vive_original + -1763389405.885739 - -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 19:08:22 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190548/session_010/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190548/session_010/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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