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+============================================================ + +融合配置: + 速度阈值: 1.0 m/s + 时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 887 + averaged: 887 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:32:31 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_001/Merged_Trajectory/merged_trajectory.txt b/pick_coke/session_001/Merged_Trajectory/merged_trajectory.txt new file mode 100644 index 0000000000000000000000000000000000000000..70c0504f755a334a4f0c5d1af2c0ea994e3f3f69 --- /dev/null +++ b/pick_coke/session_001/Merged_Trajectory/merged_trajectory.txt @@ -0,0 +1,887 @@ +22939.231909990 0.0008618216074729873 0.00016830719364773533 0.0008933977514813166 0.000343123435330123 -0.004375882297759875 4.217320004429026e-05 0.9999903660245161 +22939.241768837 0.0008643166416354917 0.00017273256968224407 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b/pick_coke/session_002/Merged_Trajectory/merge_stats.txt new file mode 100644 index 0000000000000000000000000000000000000000..d4b21ccfafc5c329fea905bb1ef27479bb021321 --- /dev/null +++ b/pick_coke/session_002/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,27 @@ +轨迹融合统计信息（基于速度的动态融合 / 流式双指针） +============================================================ + +融合配置: + 速度阈值: 1.0 m/s + 时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 877 + averaged: 877 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:36:29 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_002/Merged_Trajectory/merged_trajectory.txt b/pick_coke/session_002/Merged_Trajectory/merged_trajectory.txt new file mode 100644 index 0000000000000000000000000000000000000000..0790068694b548695faabe1be71aa649b33ba102 --- /dev/null +++ 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+============================================================ + +对齐参数: + SLAM 第一帧时间戳: 23023.981886s + Vive 第一帧时间戳: 1764678826.860964s +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: 2025-12-02 20:33:55 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_003/Vive_Poses/vive_data_tum.txt b/pick_coke/session_003/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..c5c2960e94f2aed14141851aa52741d20a630dfe --- /dev/null +++ b/pick_coke/session_003/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,859 @@ +23023.981885910 -0.0009207254010141774 -0.001340906589793339 -0.0003849212250559706 0.00017514422043613724 0.0004519719245517243 -0.003383191176087183 0.9999941595146181 +23023.991783619 -0.0008872889611219736 -0.0014378401740419507 -0.0003330009906788203 8.279278379572542e-05 0.00037939723712823243 -0.003456733580093254 0.9999939500797231 +23024.001725197 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0000000000000000000000000000000000000000..96dcf397e17dfd4032310e0e4b464f530d959caf --- /dev/null +++ b/pick_coke/session_004/Vive_Poses/offset_info.txt @@ -0,0 +1,15 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 23038.335136s + Vive 第一帧时间戳: 1764678841.211116s +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: 2025-12-02 20:34:08 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_004/Vive_Poses/vive_data_tum.txt b/pick_coke/session_004/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..0aece96c85e10233e28cef495d36d993f8105f91 --- /dev/null +++ b/pick_coke/session_004/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,723 @@ +23038.335135937 -0.0002384426137877066 -0.0013102669741951124 1.7402560748602154e-05 -1.8214243744535693e-05 0.00018953492771288223 -0.004901119280608122 0.9999879713149303 +23038.344857216 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0000000000000000000000000000000000000000..856896dde5e3c2f7c81c2f7dd6435f503461fb30 --- /dev/null +++ b/pick_coke/session_005/Vive_Poses/offset_info.txt @@ -0,0 +1,15 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 23051.215885s + Vive 第一帧时间戳: 1764678854.101524s +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: 2025-12-02 20:34:22 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_005/Vive_Poses/vive_data_tum.txt b/pick_coke/session_005/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..e301df76f79cd874731771752c8f29687faf3713 --- /dev/null +++ b/pick_coke/session_005/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,812 @@ +23051.215884924 -0.0005924581595048856 -0.0020381605189794764 0.00016630954077316134 -0.00014982168166280033 9.117891555505255e-05 -0.007198553342089374 0.9999740746987644 +23051.225357771 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+融合配置: + 速度阈值: 1.0 m/s + 时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 754 + averaged: 754 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:34:55 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_006/Merged_Trajectory/merged_trajectory.txt b/pick_coke/session_006/Merged_Trajectory/merged_trajectory.txt new file mode 100644 index 0000000000000000000000000000000000000000..7ff8eda1e7a8a2badb50b56ce0e5aedd296efcb7 --- /dev/null +++ b/pick_coke/session_006/Merged_Trajectory/merged_trajectory.txt @@ -0,0 +1,754 @@ +23084.997889042 -0.00045532570248532633 -0.0012804875763503208 0.0003167025601916242 -9.192444435476702e-05 -0.004217899636066536 -0.003583708731656946 0.9999846788347726 +23085.007564306 -0.0004594831061506474 -0.0013094267677424341 0.00033272845999209657 -9.743593216335016e-05 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100644 index 0000000000000000000000000000000000000000..6e3e9343cab0bff90be0814b40671f3e00d6f9c5 --- /dev/null +++ b/pick_coke/session_006/Vive_Poses/offset_info.txt @@ -0,0 +1,15 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 23084.997889s + Vive 第一帧时间戳: 1764678887.881191s +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: 2025-12-02 20:34:55 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_006/Vive_Poses/vive_data_tum.txt b/pick_coke/session_006/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..c31017047e1723a0d9f6c181f9be12c618d71d1a --- /dev/null +++ b/pick_coke/session_006/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,754 @@ +23084.997889042 -0.001087858295557978 -0.0012517668444093186 -0.0002253512764220924 -0.00034327218713252106 0.000277900926624253 -0.0035808544425708615 0.9999934911871885 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+23106.261389000 86.2579722826129 diff --git a/pick_coke/session_007/Merged_Trajectory/merge_stats.txt b/pick_coke/session_007/Merged_Trajectory/merge_stats.txt new file mode 100644 index 0000000000000000000000000000000000000000..e8fc164fbf7547f25038f70e2171c7849398d134 --- /dev/null +++ b/pick_coke/session_007/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,27 @@ +轨迹融合统计信息（基于速度的动态融合 / 流式双指针） +============================================================ + +融合配置: + 速度阈值: 1.0 m/s + 时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 767 + averaged: 767 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:35:09 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_007/Merged_Trajectory/merged_trajectory.txt b/pick_coke/session_007/Merged_Trajectory/merged_trajectory.txt new file mode 100644 index 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+Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 23111.355898s + Vive 第一帧时间戳: 1764678914.241360s +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: 2025-12-02 20:35:22 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_008/Vive_Poses/vive_data_tum.txt b/pick_coke/session_008/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..3bcf3415ae7b4686f16b5ce13aa5cac42337f4c8 --- /dev/null +++ b/pick_coke/session_008/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,794 @@ +23111.355897903 -0.0005044893823817342 -0.0013753630172487308 -8.888586707217377e-05 -0.0003712526860944153 0.0008743529440034515 -0.0049054043530772605 0.9999875172653432 +23111.365417004 -0.0005382104768224122 -0.0014066841901939555 -0.00011579963131207839 -0.0003357046832393126 0.0008634384681179208 -0.004902765989684695 0.9999875522535407 +23111.375494719 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a/pick_coke/session_009/Merged_Trajectory/merge_stats.txt b/pick_coke/session_009/Merged_Trajectory/merge_stats.txt new file mode 100644 index 0000000000000000000000000000000000000000..75688972dae709320f19c104f61fdf8988917d34 --- /dev/null +++ b/pick_coke/session_009/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,27 @@ +轨迹融合统计信息（基于速度的动态融合 / 流式双指针） +============================================================ + +融合配置: + 速度阈值: 1.0 m/s + 时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 822 + averaged: 822 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:35:36 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_009/Merged_Trajectory/merged_trajectory.txt b/pick_coke/session_009/Merged_Trajectory/merged_trajectory.txt new file mode 100644 index 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VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 801 + averaged: 801 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:35:49 +设备标签: main +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/pick_coke/session_010/Merged_Trajectory/merged_trajectory.txt b/pick_coke/session_010/Merged_Trajectory/merged_trajectory.txt new file mode 100644 index 0000000000000000000000000000000000000000..caea8cfa6d50cab6f692a2322fe5d421ea8ff312 --- /dev/null +++ b/pick_coke/session_010/Merged_Trajectory/merged_trajectory.txt @@ -0,0 +1,801 @@ +23138.779886007 -0.00012036149810618069 -0.001436831698367509 0.0009086249799604878 -0.0007519039285509212 -0.002983952576083967 -0.006776597535516215 0.9999723038131344 +23138.789446831 -0.00016070393771713126 -0.001471487599598116 0.0009347108338082609 -0.0007434531960632051 -0.0030650798468965274 -0.006865967449149038 0.9999714551195272 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