diff --git a/multi_sessions_20251119_190826/collection_summary.txt b/multi_sessions_20251119_190826/collection_summary.txt deleted file mode 100644 index 1c0b5ffa3be1ffaf2f8f3965faf7564e164469f8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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 19:08:28 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_190826 -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 19:08:28 CST - 输出目录: ./multi_sessions_20251119_190826/session_001 - 结束时间: 2025年 11月 19日 星期三 19:08:41 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190826/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:08:43 CST - 输出目录: ./multi_sessions_20251119_190826/session_002 - 结束时间: 2025年 11月 19日 星期三 19:09:00 CST - 持续时间: 17秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190826/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:09:02 CST - 输出目录: ./multi_sessions_20251119_190826/session_003 - 结束时间: 2025年 11月 19日 星期三 19:09:16 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190826/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:09:20 CST - 输出目录: ./multi_sessions_20251119_190826/session_004 - 结束时间: 2025年 11月 19日 星期三 19:09:33 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190826/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:09:36 CST - 输出目录: ./multi_sessions_20251119_190826/session_005 - 结束时间: 2025年 11月 19日 星期三 19:09:49 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190826/session_005 - -========================================== -会话 6 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:09:51 CST - 输出目录: ./multi_sessions_20251119_190826/session_006 - 结束时间: 2025年 11月 19日 星期三 19:10:05 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190826/session_006 - -========================================== -会话 7 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:10:07 CST - 输出目录: ./multi_sessions_20251119_190826/session_007 - 结束时间: 2025年 11月 19日 星期三 19:10:21 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190826/session_007 - -========================================== -会话 8 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:10:22 CST - 输出目录: ./multi_sessions_20251119_190826/session_008 - 结束时间: 2025年 11月 19日 星期三 19:10:36 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190826/session_008 - -========================================== -会话 9 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:10:39 CST - 输出目录: ./multi_sessions_20251119_190826/session_009 - 结束时间: 2025年 11月 19日 星期三 19:10:53 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190826/session_009 - -========================================== -会话 10 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:10:55 CST - 输出目录: ./multi_sessions_20251119_190826/session_010 - 结束时间: 2025年 11月 19日 星期三 19:11:08 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_190826/session_010 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 19:11:08 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_190826/ -├─ 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_190826/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_190826/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 9c4e184726065432a12c54e2038790481b53fee7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_001/Clamp_Data/clamp.csv +++ /dev/null @@ -1,1470 +0,0 @@ -timestamp,clamp -161104.208345,87.45858778057632 -161104.213248,87.45858778057632 -161104.218133,87.45858778057632 -161104.223326,87.44948449742859 -161104.23114,87.45858778057632 -161104.234899,87.45858778057632 -161104.238126,87.45858778057632 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-161111.497951000 87.42216892110109 -161111.502959000 87.42216892110109 -161111.509933000 87.42216892110109 -161111.513722000 87.42216892110109 -161111.517950000 87.42216892110109 -161111.522953000 87.42216892110109 -161111.530022000 87.43127506757487 -161111.533745000 87.43127506757487 -161111.538318000 87.43127506757487 -161111.544622000 87.43127506757487 -161111.548608000 87.42216892110109 diff --git a/multi_sessions_20251119_190826/session_001/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190826/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 69437b4474421d85f0378b07098b9779f892f7bf..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 735 - 均值融合 (都低速): 735 - 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 19:08:39 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190826/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 6c58bde095fc2c9f98f99c93f9a1293f74c646b6..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,736 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161104.207777977,0.0015559837329475,1.304128487800019e-05,0.0017390233702834,-0.0016566798459882,-0.0053918297302029,-0.0005068368972144,0.9999839632216148 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0.033028852025135155 -0.01778854397067594 0.0018392873042932245 0.018753891134436842 0.07512456656278542 -0.02046171262217113 0.9967877955626459 -161111.551783 0.0328831502524632 -0.01779190862659674 0.0017901231853460972 0.01875341198868814 0.07481786135427636 -0.020418755508678905 0.9968117533339139 -161111.553772 0.03274092065077164 -0.01779528133591011 0.0017425993919923128 0.01874716343154604 0.07451193094074027 -0.020372884770180552 0.9968357244686279 diff --git a/multi_sessions_20251119_190826/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190826/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index 883a39c19af27f919d33be87e2add7e23900f485..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 161104.207778s - Vive 第一帧时间戳: 1763550510.087504s - 计算的 offset: -1763389405.879726s - 对齐公式: vive_aligned = vive_original + -1763389405.879726 - -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 19:08:39 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190826/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 32c37e5101763774e94c48c1db0579a347a89a95..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,735 +0,0 @@ -161104.207777977 0.0012520697636377032 0.0006718352601121022 0.0009766123021919936 -0.0005231970452696666 -0.00048201221476513653 -0.0004443011005811405 0.9999996482627426 -161104.21780443192 0.0012652266585115174 0.0006096549027855035 0.000946024001204888 -0.0005610848669919974 -0.0004546873154415267 -0.0004597271544566103 0.9999996335470132 -161104.22789239883 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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: 803 - 均值融合 (都低速): 803 - 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 19:08:57 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190826/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 216cc2bb0fbe4f8312990ef1b65bc33f44bc0d85..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,804 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161121.9817750454,0.0019595359959722,0.0005761694221597,0.0014418144817597,-0.0019195848510179,-0.0052191310499841,3.644645790185168e-05,0.9999845371488194 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b/multi_sessions_20251119_190826/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index 8a5c13de57426330dacf3529c1f6f6091750e547..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 161121.981775s - Vive 第一帧时间戳: 1763550527.867518s - 计算的 offset: -1763389405.885743s - 对齐公式: vive_aligned = vive_original + -1763389405.885743 - -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 19:08:57 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190826/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 3f39ce2a75974b70f452fb93eeaca77be0526994..0000000000000000000000000000000000000000 --- 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(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: 743 - 均值融合 (都低速): 743 - 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 19:09:13 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190826/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index a2acebad90b526caeeb732fe47a8286761fb9d92..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,744 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161138.3837709427,0.001319663799623,0.0003214809855454,0.0012524772181901,-0.0020257659411036,-0.0054550661338789,0.0001151910697705,0.9999830624849826 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-1763389405.883677s - 对齐公式: vive_aligned = vive_original + -1763389405.883677 - -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 19:09:13 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190826/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index eff747508eff771358de46f3d150f432250e85d9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,744 +0,0 @@ -161138.3837709427 0.000460344024777834 0.0007654740505223241 0.0004250217571302867 -0.000729928757616332 -0.00037571620328210193 0.00027976701533988615 0.9999996238858095 -161138.39379787445 0.0004751058070426306 0.0007709044264956378 0.00042731280436642606 -0.0007343130945537751 -0.00037766536150797217 0.00029854188597072277 0.9999996145128739 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-161163.021217000 87.50408987387988 -161163.026207000 87.50408987387988 diff --git a/multi_sessions_20251119_190826/session_004/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190826/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 8f7d7349ea3f349bac18f33a255ba35aaa276865..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 730 - 均值融合 (都低速): 730 - 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 19:09:30 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190826/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index ac0f2e1e8d4e37814a5299851f0eecb9367226d9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,731 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161155.72177290916,0.1527854110969597,0.0447339907715086,0.0596902206190217,-0.0407698124079748,0.1168050997748315,0.1486062276627623,0.9811271987681583 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0.05354934794387841 -0.03644624378539301 0.9978253452864682 -161163.027778 0.05268823024979334 -0.04106639981850796 0.03577109127736527 0.012385648015302812 0.053267413444229396 -0.03623803358684057 0.9978456710884512 -161163.02978 0.05240531264858836 -0.040887684187497615 0.035666326396697284 0.012581426968293582 0.05298599108253056 -0.036019926614489654 0.9978661019050252 diff --git a/multi_sessions_20251119_190826/session_004/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190826/session_004/Vive_Poses/offset_info.txt deleted file mode 100644 index a50b4394c8ac5185e5bdd447454e5cc8a9e4a200..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 161155.721773s - Vive 第一帧时间戳: 1763550561.607484s - 计算的 offset: -1763389405.885711s - 对齐公式: vive_aligned = vive_original + -1763389405.885711 - -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 19:09:30 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190826/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 7696385dd74561467b6e7c6d43e37a26b2ecccfc..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,731 +0,0 @@ -161155.72177290916 0.15205257094465918 0.04329060631367133 0.058879551852686236 -0.039526208661005945 0.12039220462508715 0.15037036537150675 0.9804754709386857 -161155.7317442894 0.15472425951194962 0.044500978617705196 0.05809588734169052 -0.040330173305408244 0.12208097769173323 0.15409795344727675 0.9796548028516714 -161155.74188017845 0.15733952404614887 0.045805343803494325 0.05725018942332738 -0.040988308878224265 0.1234902595138138 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-161178.971346000 86.78237410711333 -161178.975587000 86.78237410711333 -161178.980692000 86.78237410711333 -161178.985822000 86.78237410711333 -161178.990588000 86.78237410711333 -161178.995589000 86.7915467671006 -161179.001839000 86.7915467671006 diff --git a/multi_sessions_20251119_190826/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190826/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index e08445b8a13d1d3cb1525ea4b6af588fcb7a60e5..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 761 - 均值融合 (都低速): 761 - 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 19:09:46 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190826/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 41bf560aa397842d5a137c1eb8ca81b993b793c6..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,762 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161171.39381599426,0.0015416377578309,0.0002248490988962,0.00130324884011,-0.0019690864575844,-0.0051488461937966,-0.0001143638885393,0.9999847993856188 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0.025298350961276184 0.034531719933980846 0.09042975514448344 -0.013830358168106436 0.9952078882805601 diff --git a/multi_sessions_20251119_190826/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190826/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index 647ef59c7204659b0ccfe26f2ba94768fad69275..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 161171.393816s - Vive 第一帧时间戳: 1763550577.277542s - 计算的 offset: -1763389405.883726s - 对齐公式: vive_aligned = vive_original + -1763389405.883726 - -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 19:09:46 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_005/Vive_Poses/vive_data_tum.txt 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87.41306182041758 -161194.920081000 87.41306182041758 -161194.926197000 87.41306182041758 -161194.930086000 87.41306182041758 -161194.935062000 87.41306182041758 -161194.940037000 87.40395376564047 -161194.946081000 87.40395376564047 -161194.950035000 87.41306182041758 -161194.955056000 87.41306182041758 -161194.960188000 87.41306182041758 -161194.965904000 87.40395376564047 -161194.970044000 87.40395376564047 diff --git a/multi_sessions_20251119_190826/session_006/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190826/session_006/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index da3757e7a589ce421cf7f2c696ad180d75d473f0..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 782 - 均值融合 (都低速): 782 - 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 19:10:02 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_006/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190826/session_006/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 74a4916aa2406d631e90b4b47666f2cb17168a82..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_006/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,783 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161187.14385700226,0.0011686305189859,-0.000986861202318,0.0012323482456969,-0.0020068051375415,-0.0051959807224378,-0.0029461993301957,0.9999801470164188 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99d4f994b7a1a238ed69cbf075255e72e4071ec8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 161187.143857s - Vive 第一帧时间戳: 1763550593.027527s - 计算的 offset: -1763389405.883670s - 对齐公式: vive_aligned = vive_original + -1763389405.883670 - -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 19:10:02 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_006/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190826/session_006/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 66d01932f486e8c90da9790d582599ccdd96ea69..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_006/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,783 +0,0 @@ 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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: 749 - 均值融合 (都低速): 749 - 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 19:10:18 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_007/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190826/session_007/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 10f70fad42d4a7a5ba7bd98dabf1bcd54bb21fa7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_007/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,750 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161203.0817708969,0.0014991987907384,-0.0005055322545848,0.0015485196522902,-0.0021670245087463,-0.0051471918857742,-0.0028170201262542,0.9999804372176878 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-1763389405.885731s - 对齐公式: vive_aligned = vive_original + -1763389405.885731 - -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 19:10:18 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_007/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190826/session_007/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index d5fd9ba6b5aee4469b33457848b3489c7ae386a7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_007/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,750 +0,0 @@ -161203.0817708969 0.0006607556579278917 -4.7773209985597356e-05 0.0006620311267579531 -0.0007262726273148452 -0.0002801519116830103 -0.0027421736638891126 0.9999959372550341 -161203.09168815613 0.0006005996415350545 -2.7200799278723567e-05 0.0006498247511871435 -0.000766358221377936 -0.00027502478213998615 -0.0026756177693183073 0.9999960890553513 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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: 753 - 均值融合 (都低速): 753 - 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 19:10:33 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_008/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190826/session_008/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index fa9f2398e6d6d8c51210afb60bd74a3b6a8dee5f..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_008/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,754 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161218.29177594185,0.0017673916747292,0.0003001005545154,0.0012926095201937,-0.0018607849305171,-0.0050286091593794,0.0010083964553553,0.999985116742221 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b/multi_sessions_20251119_190826/session_008/Vive_Poses/offset_info.txt deleted file mode 100644 index 673cb2c9a24f2d613f2f6d52b8247e9401144454..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 161218.291776s - Vive 第一帧时间戳: 1763550624.177409s - 计算的 offset: -1763389405.885633s - 对齐公式: vive_aligned = vive_original + -1763389405.885633 - -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 19:10:33 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_008/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190826/session_008/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index c0732825dc121667697b47b0e64e60775102ab13..0000000000000000000000000000000000000000 --- 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87.41306182041758 -161242.858392000 87.41306182041758 -161242.864063000 87.41306182041758 -161242.868409000 87.41306182041758 -161242.873387000 87.40395376564047 -161242.878389000 87.41306182041758 -161242.884598000 87.41306182041758 -161242.888686000 87.41306182041758 diff --git a/multi_sessions_20251119_190826/session_009/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190826/session_009/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 45fe2abc909ed8c7667fc2750c59b5f6b1aceb98..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 766 - 均值融合 (都低速): 766 - 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 19:10:50 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_009/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190826/session_009/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index cb69c87df206ac09b352a4f6bfdefa578c4d43bb..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_009/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,767 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161235.23177790642,0.0009439598148964,-0.000973378994019,0.0014333133289988,-0.0016387914750116,-0.0050203457710592,-0.0044313344944465,0.9999762366003698 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-0.022753952082310597 0.99861240915692 diff --git a/multi_sessions_20251119_190826/session_009/Vive_Poses/offset_info.txt b/multi_sessions_20251119_190826/session_009/Vive_Poses/offset_info.txt deleted file mode 100644 index f64565180e46f54866c2644767e7af84a0968cb5..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 161235.231778s - Vive 第一帧时间戳: 1763550641.117501s - 计算的 offset: -1763389405.885723s - 对齐公式: vive_aligned = vive_original + -1763389405.885723 - -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 19:10:50 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_009/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190826/session_009/Vive_Poses/vive_data_tum.txt deleted file 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87.24897097071786 -161258.318236000 87.24897097071786 -161258.322857000 87.24897097071786 -161258.327847000 87.24897097071786 -161258.333002000 87.24897097071786 -161258.337850000 87.24897097071786 -161258.343472000 87.24897097071786 -161258.347930000 87.23984576213162 -161258.352857000 87.24897097071786 diff --git a/multi_sessions_20251119_190826/session_010/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_190826/session_010/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index a557095704ec893f79d7d7c97ece01180adb7f9a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 738 - 均值融合 (都低速): 738 - 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 19:11:05 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_010/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_190826/session_010/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 04af1f239266e06e4f8ca2905f319ab8a804fb91..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_010/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,739 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161250.97177100182,0.001216852686489,-0.0004443025785809,0.0011267180066282,-0.0022459281792529,-0.0049967423690976,-0.0011873060197204,0.9999842892149486 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81e89bf874df6c2dd5257cda9fd3be3c4d17bf12..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/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: 161250.971771s - Vive 第一帧时间戳: 1763550656.857478s - 计算的 offset: -1763389405.885707s - 对齐公式: vive_aligned = vive_original + -1763389405.885707 - -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 19:11:05 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_190826/session_010/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_190826/session_010/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 041360127aec0ca867d266f1b3a9288bf3649937..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_190826/session_010/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,738 +0,0 @@ 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