diff --git a/multi_sessions_20251119_191847/collection_summary.txt b/multi_sessions_20251119_191847/collection_summary.txt deleted file mode 100644 index 8a72b1e60a2c87cf5ce67f0d4d63cfaa20adf6fd..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/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 19:18:48 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_191847 -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 19:18:48 CST - 输出目录: ./multi_sessions_20251119_191847/session_001 - 结束时间: 2025年 11月 19日 星期三 19:19:03 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191847/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:19:05 CST - 输出目录: ./multi_sessions_20251119_191847/session_002 - 结束时间: 2025年 11月 19日 星期三 19:19:18 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191847/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:19:22 CST - 输出目录: ./multi_sessions_20251119_191847/session_003 - 结束时间: 2025年 11月 19日 星期三 19:19:35 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191847/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:19:38 CST - 输出目录: ./multi_sessions_20251119_191847/session_004 - 结束时间: 2025年 11月 19日 星期三 19:19:52 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191847/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:19:54 CST - 输出目录: ./multi_sessions_20251119_191847/session_005 - 结束时间: 2025年 11月 19日 星期三 19:20:06 CST - 持续时间: 12秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191847/session_005 - -========================================== -会话 6 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:20:08 CST - 输出目录: ./multi_sessions_20251119_191847/session_006 - 结束时间: 2025年 11月 19日 星期三 19:20:22 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191847/session_006 - -========================================== -会话 7 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:20:25 CST - 输出目录: ./multi_sessions_20251119_191847/session_007 - 结束时间: 2025年 11月 19日 星期三 19:20:38 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191847/session_007 - -========================================== -会话 8 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:20:40 CST - 输出目录: ./multi_sessions_20251119_191847/session_008 - 结束时间: 2025年 11月 19日 星期三 19:20:53 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191847/session_008 - -========================================== -会话 9 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:20:55 CST - 输出目录: ./multi_sessions_20251119_191847/session_009 - 结束时间: 2025年 11月 19日 星期三 19:21:12 CST - 持续时间: 17秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191847/session_009 - -========================================== -会话 10 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:21:13 CST - 输出目录: ./multi_sessions_20251119_191847/session_010 - 结束时间: 2025年 11月 19日 星期三 19:21:27 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191847/session_010 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 19:21:27 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_191847/ -├─ 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_191847/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_191847/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 6ff47265b8597addcea5c5125602ab42389137fa..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_001/Clamp_Data/clamp.csv +++ /dev/null @@ -1,1453 +0,0 @@ -timestamp,clamp -161725.462904,87.68585928849235 -161725.467968,87.68585928849235 -161725.473416,87.68585928849235 -161725.479195,87.69493771241248 -161725.482976,87.69493771241248 -161725.487894,87.69493771241248 -161725.492881,87.69493771241248 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87.44948449742859 -161732.674335000 87.44038025972274 -161732.680368000 87.44038025972274 -161732.684394000 87.44038025972274 -161732.689324000 87.44038025972274 -161732.694332000 87.44038025972274 -161732.699429000 87.44038025972274 -161732.704967000 87.44038025972274 -161732.709381000 87.44038025972274 -161732.714419000 87.44038025972274 -161732.719800000 87.44948449742859 diff --git a/multi_sessions_20251119_191847/session_001/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191847/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 45dcb3d3737458fa93468b99672323f15f5d4bb1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/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: 726 - 均值融合 (都低速): 726 - 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 19:19:00 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191847/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 42da298842f4db1dad01a96a4ddec11be3366ae5..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,727 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161725.46377301216,0.0023453134140982,0.0007851881285611,0.0015942229198514,-0.0021490175297683,-0.0053029112540505,0.0026028601222371,0.9999802427923626 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0.04004139631099078 -0.021661280746997587 0.9989448001188748 -161732.721776 0.07828457879912762 -0.016038981125841147 0.052528321258583865 -0.005990679520838533 0.03982146632500486 -0.021408934303483434 0.9989594687026067 diff --git a/multi_sessions_20251119_191847/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_191847/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index aab0f60180b2fccdd91d03d78dd562d0096d8d86..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/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: 161725.463773s - Vive 第一帧时间戳: 1763551131.347516s - 计算的 offset: -1763389405.883743s - 对齐公式: vive_aligned = vive_original + -1763389405.883743 - -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 19:19:00 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: 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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: 712 - 均值融合 (都低速): 712 - 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 19:19:16 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191847/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index a0b2ad6eb8e167e48da55b38aecb4934778c9330..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,713 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161741.48178601265,0.0030332706042338,0.0005427017873893,0.001563875928262,-0.0018569184526642,-0.0044982693551128,-2.209264709354486e-06,0.9999881586407852 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a/multi_sessions_20251119_191847/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_191847/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index 402e2df846c6d21b046a8736a34ca2a727fa6d93..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/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: 161741.481786s - Vive 第一帧时间戳: 1763551147.367467s - 计算的 offset: -1763389405.885681s - 对齐公式: vive_aligned = vive_original + -1763389405.885681 - -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 19:19:16 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191847/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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+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: 693 - 均值融合 (都低速): 693 - 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 19:19:33 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191847/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 633ae7b98ad69e0e14efbe808beb1db555d04f2f..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,694 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161758.76977610588,0.0014449821278417,-0.000429137199196,0.0015485129003279,-0.0019710866546663,-0.0051148611324202,-0.0019373902839008,0.9999830996231304 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1763551164.647474s - 计算的 offset: -1763389405.877698s - 对齐公式: vive_aligned = vive_original + -1763389405.877698 - -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 19:19:33 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191847/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 86c4947a707f34cccb2cfaa6a5d839cb66980b02..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,694 +0,0 @@ -161758.76977610588 0.0005685326945815417 7.333298188424926e-05 0.0005281014969427627 -0.0005734610288083312 -0.00014609258231564854 -0.0018939351820809985 0.9999980314025283 -161758.7797396183 0.00047006275675166853 0.00012400815837123832 0.00044999335941735226 -0.0006173649887388337 -0.00011419341238101404 -0.001863298073808823 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a/multi_sessions_20251119_191847/session_004/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191847/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 8213c08a3db0004e112e5eea8a50462b9f58e4cb..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/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: 740 - 均值融合 (都低速): 740 - 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 19:19:49 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191847/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index c1b5bfbb2f299c7c4c4f9153a3c49a58168e3bde..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,741 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161774.46978592873,0.0023298403503486,0.0010067714145783,0.0019650309154191,-0.0022844770204875,-0.0052897531887744,0.0019111465628703,0.9999815734276106 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-0.011335490913597117 0.043787786421523346 0.004770220474010498 0.015689019875832946 0.0051379365742558435 0.9998523397280841 diff --git a/multi_sessions_20251119_191847/session_004/Vive_Poses/offset_info.txt b/multi_sessions_20251119_191847/session_004/Vive_Poses/offset_info.txt deleted file mode 100644 index b8558c59279d56511691ac99bf5b1ac801b50f8f..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/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: 161774.469786s - Vive 第一帧时间戳: 1763551180.347620s - 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 19:19:49 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_004/Vive_Poses/vive_data_tum.txt 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a/multi_sessions_20251119_191847/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: 725 - 均值融合 (都低速): 725 - 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 19:20:03 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191847/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 9b551aa0060d4c9ff9ca30c9f4b4390b72f06b16..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,726 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161789.3177819252,0.0010812014918474,-0.0011443356337445,0.0011727372942227,-0.001560207535503,-0.0049547309257856,-0.0034461249688355,0.9999805701195392 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0.03297306410033877 -0.02005525134647354 0.018874800651625744 0.026291832276835868 0.06912098695270862 -0.022924915490450594 0.9969982331819681 diff --git a/multi_sessions_20251119_191847/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_191847/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index 971170753c4adee42f48da92fc1ed2602df789eb..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/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: 161789.317782s - Vive 第一帧时间戳: 1763551195.197758s - 计算的 offset: -1763389405.879976s - 对齐公式: vive_aligned = vive_original + -1763389405.879976 - -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 19:20:03 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git 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86.7181390043585 -161811.758549000 86.72731828423757 -161811.763548000 86.7181390043585 -161811.769664000 86.72731828423757 -161811.773555000 86.72731828423757 -161811.778556000 86.72731828423757 -161811.783664000 86.72731828423757 -161811.788727000 86.72731828423757 -161811.793579000 86.72731828423757 -161811.798608000 86.72731828423757 -161811.803632000 86.72731828423757 -161811.808588000 86.72731828423757 -161811.814135000 86.7181390043585 diff --git a/multi_sessions_20251119_191847/session_006/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191847/session_006/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 6943c0dea50ac54af05f9fe00bfec14d05da6307..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/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: 715 - 均值融合 (都低速): 715 - 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 19:20:19 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_006/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191847/session_006/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 0796bde38b9e87ed0fe2791da2e4cbb7562eec48..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_006/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,716 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161804.66777300835,0.0016373569446498,0.0001434891530709,0.0011132904145644,-0.0020444647288391,-0.0049914488724942,-0.0006648787694678,0.999985231660122 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549a8e8ed147b20cf20fdec7c29c51faec456626..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/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: 161804.667773s - Vive 第一帧时间戳: 1763551210.547522s - 计算的 offset: -1763389405.879749s - 对齐公式: vive_aligned = vive_original + -1763389405.879749 - -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 19:20:19 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_006/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191847/session_006/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index ea87aaab7eba5cb9c30004df761eb089e6d1911a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_006/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,715 +0,0 @@ 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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: 718 - 均值融合 (都低速): 718 - 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 19:20:35 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_007/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191847/session_007/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index d88ef59f9f4f71463f1de414f3e722d7cba1d899..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_007/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,719 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161820.94577288628,0.0012866647357952,-0.0008008899237885,0.001542775540667,-0.0022982185529286,-0.0052733269714721,-0.0029734111454862,0.9999790343003672 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0.0020739961297771897 0.9959502958529066 -161828.127746 0.07591406300351798 -0.005258379168290059 0.03994945135315439 -0.02693584733246773 0.08522597907291163 0.0021679558035450114 0.995995126788871 diff --git a/multi_sessions_20251119_191847/session_007/Vive_Poses/offset_info.txt b/multi_sessions_20251119_191847/session_007/Vive_Poses/offset_info.txt deleted file mode 100644 index 4c7b4e6da0182dcbb6141f23acdd31924f9ede33..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/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: 161820.945773s - Vive 第一帧时间戳: 1763551226.827429s - 计算的 offset: -1763389405.881656s - 对齐公式: vive_aligned = vive_original + -1763389405.881656 - -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 19:20:35 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git 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/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: 721 - 均值融合 (都低速): 721 - 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 19:20:51 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_008/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191847/session_008/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 2d1a752fc1ac3719d7f80a94c4eb88094cbe1668..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_008/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,722 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161836.41777706146,0.0016970561926134,-0.0002264427150354,0.0015379527265259,-0.0027251807001394,-0.0053977794939237,-0.0012193738655257,0.9999809750660572 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数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 19:20:51 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_008/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191847/session_008/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 1882e9ca5e21e07f7f55537c6c232309b39a72bc..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_008/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,722 +0,0 @@ -161836.41777706146 0.0006876510795678636 0.0004380200485222905 0.0006147202634486522 -0.0013465234709644943 -0.000461197480168728 -0.0013162752155981125 0.999998120793726 -161836.42770719528 0.0007085205771514697 0.0004511901751030829 0.0006082962898990069 -0.0013913002197943238 -0.000517254294114814 -0.0012690079489821814 0.9999980931734416 -161836.43784189224 0.0006693082758246621 0.0003976595918493989 0.0007946014291368413 -0.0014843757604190175 -0.0005575973722016899 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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: 824 - 均值融合 (都低速): 824 - 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 19:21:09 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_009/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191847/session_009/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 3be2cd821f71581aba4424e6191ec834ae848b8d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_009/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,825 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161853.2097840309,0.0019285475006051,0.000470945648924,0.0015463094239328,-0.0025251621382177,-0.0053969883779817,0.0004993669974228,0.9999821231928226 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-============================================================ - -对齐参数: - SLAM 第一帧时间戳: 161853.209784s - Vive 第一帧时间戳: 1763551259.087466s - 计算的 offset: -1763389405.877682s - 对齐公式: vive_aligned = vive_original + -1763389405.877682 - -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 19:21:09 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_009/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191847/session_009/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 15c272ed3e2b7dee50b03d78ac70beff10a0e160..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_009/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,824 +0,0 @@ -161853.2097840309 0.0008048672728672851 0.0010363881666221304 0.0007299179378886008 -0.0011132974614397407 -0.0004439515253770558 0.0005672441337225696 0.9999991208545626 -161853.21980977058 0.0008316764764394052 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/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 19:21:24 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_010/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191847/session_010/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 3bb84f08d519b3ec8b61de6214aadcda0a0dfcf7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_010/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 -161869.681773901,0.0011384673347149,-0.0003953007034041,0.0013918366464913,-0.0025152837672617,-0.0054641822967186,-0.0011487200735937,0.999981248074978 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a/multi_sessions_20251119_191847/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: 161869.681774s - Vive 第一帧时间戳: 1763551275.567495s - 计算的 offset: -1763389405.885721s - 对齐公式: vive_aligned = vive_original + -1763389405.885721 - -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 19:21:24 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191847/session_010/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191847/session_010/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 7dfded5fd9069cd067c53dd4658c1dc2bedaff50..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191847/session_010/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,723 +0,0 @@ -161869.681773901 -0.00015709891860593572 0.00015093030543381574 0.00023746529747910487 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