diff --git a/multi_sessions_20251119_181431/collection_summary.txt b/multi_sessions_20251119_181431/collection_summary.txt deleted file mode 100644 index efc2eda4dd8d80ffcbfa1dd71bfc1af79a5ba843..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/collection_summary.txt +++ /dev/null @@ -1,93 +0,0 @@ -======================================== -多会话XVisio数据采集摘要（Buffered版本） -======================================== -开始时间: 2025年 11月 19日 星期三 18:14:33 CST -设备模式: 单设备 -设备数量: 1 -计划会话数: 5 -会话间隔: 3秒 -摘要目录: ./multi_sessions_20251119_181431 -ToF模式: off -Python脚本: ./single_session_data_collector_buffered.py -配置文件: ../start_process/config.json -======================================== - -设备信息: - XV序列号: 250801DR48FP25002087 - Vive序列号: LHR_B728E669 - 设备标签: main - - -========================================== -会话 1 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:14:33 CST - 输出目录: ./multi_sessions_20251119_181431/session_001 - 结束时间: 2025年 11月 19日 星期三 18:14:49 CST - 持续时间: 16秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181431/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:14:53 CST - 输出目录: ./multi_sessions_20251119_181431/session_002 - 结束时间: 2025年 11月 19日 星期三 18:15:06 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181431/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:15:10 CST - 输出目录: ./multi_sessions_20251119_181431/session_003 - 结束时间: 2025年 11月 19日 星期三 18:15:24 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181431/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:15:28 CST - 输出目录: ./multi_sessions_20251119_181431/session_004 - 结束时间: 2025年 11月 19日 星期三 18:15:41 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181431/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:15:45 CST - 输出目录: ./multi_sessions_20251119_181431/session_005 - 结束时间: 2025年 11月 19日 星期三 18:15:59 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_181431/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:15:59 CST -成功会话数: 5 -失败会话数: 0 -总计划会话数: 5 -实际完成会话数: 5 -成功率: 100% - -数据目录结构: -./multi_sessions_20251119_181431/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_181431/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_181431/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 74ae24b056029853dae63f3832c646bcaafd0f72..0000000000000000000000000000000000000000 --- 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-157877.944962000 87.66769956804939 -157877.951063000 87.67677990699939 -157877.954966000 87.68585928849235 -157877.960094000 87.68585928849235 -157877.965081000 87.69493771241248 -157877.970199000 87.68585928849235 -157877.975044000 87.68585928849235 -157877.980055000 87.68585928849235 -157877.984985000 87.68585928849235 -157877.989974000 87.68585928849235 diff --git a/multi_sessions_20251119_181431/session_001/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_181431/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 9a162d16d488211a91876ebaa97b08f3e7345f95..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/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: 891 - 均值融合 (都低速): 891 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:14:45 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181431/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181431/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index bba6645f4df8971899431480f767ac7a8191e24d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,892 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -157869.07346105576,0.0012806623124923,0.0018303508440982,0.0007552572710064,-0.0019124212376745,-0.0055433476165414,0.0064711580025668,0.9999618683011456 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-0.003179709802030549 0.0012444994215985497 0.008640108439452348 0.005822382800226758 0.9999449482875904 -157877.989454 0.009925772159207577 0.000840699281038235 -0.003082565726751395 0.0010087021187335278 0.008215269487609318 0.005844449346470749 0.9999486658219602 -157877.991454 0.009891289996646555 0.0008974973340719683 -0.002985176112871517 0.0007931423827541287 0.00788032906735637 0.005756232488066645 0.9999520674144807 diff --git a/multi_sessions_20251119_181431/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181431/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index be59584513b55b68c47a33e6edaa980ee3387c1c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/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: 157869.073461s - Vive 第一帧时间戳: 1763547274.957500s - 计算的 offset: -1763389405.884039s - 对齐公式: vive_aligned = vive_original + -1763389405.884039 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:14:45 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181431/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181431/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 0f2da764dd9ca42720e16aed682f588a985936bf..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,892 +0,0 @@ -157869.07346105576 0.00019279379053256662 0.002673700964417632 0.0003317614746411829 -0.001345751429440742 -0.0007421893696554523 0.006431470649815182 0.9999781369076578 -157869.0834941864 0.00018589589640806425 0.0026590202371035107 0.00031250419470287244 -0.0013376950909189684 -0.0006832382293209997 0.006402655270099873 0.999978374647601 -157869.09337806702 0.00024583227444333056 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87.03885055271618 -157895.819787000 87.02970348025735 -157895.824679000 87.02970348025735 -157895.832775000 87.03885055271618 -157895.836403000 87.03885055271618 -157895.839687000 87.03885055271618 -157895.846774000 87.03885055271618 diff --git a/multi_sessions_20251119_181431/session_002/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_181431/session_002/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index ea00803c7764a703a807d4e7037c9298f05aee28..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/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: 756 - 均值融合 (都低速): 756 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:15:03 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181431/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181431/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 1fb9c0130764479340ab1116ee7e8200e834c405..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,757 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -157888.2874560356,0.0007963547346081,0.0007240408926804,0.0002072489464018,-0.0017571855020415,-0.0049283836913096,0.0038258556358298,0.9999789928603284 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0.028223207295830416 0.017269295735587806 0.9994234785256888 -157895.849459 0.03606263054364841 0.0068567515160771805 0.024806115511305467 -0.0074095699537991225 0.028129953287423605 0.01705860612620006 0.9994312422363923 diff --git a/multi_sessions_20251119_181431/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181431/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index f49af3741d0f57e5d79149eacb9aba56c5eaf915..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/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: 157888.287456s - Vive 第一帧时间戳: 1763547294.167466s - 计算的 offset: -1763389405.880010s - 对齐公式: vive_aligned = vive_original + -1763389405.880010 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:15:03 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: 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-157913.534453000 87.75845985808992 -157913.539491000 87.75845985808992 diff --git a/multi_sessions_20251119_181431/session_003/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_181431/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 1505182b10156dd5758e17d8fbc029d272fda1f9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/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: 785 - 均值融合 (都低速): 785 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:15:21 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181431/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181431/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 3f405b4244d72284b25fa1d36b38d7dd422b3337..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,786 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -157905.68749189377,0.0008422363272391,0.0008529838701129,7.590068494475749e-05,-0.0018128018571593,-0.0051681945053378,0.0035480328765466,0.999978707262154 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a/multi_sessions_20251119_181431/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: 157905.687492s - Vive 第一帧时间戳: 1763547311.567367s - 计算的 offset: -1763389405.879875s - 对齐公式: vive_aligned = vive_original + -1763389405.879875 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:15:21 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181431/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181431/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index fdd5845dfdf22683edd5e726a57ac1935bfab746..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,786 +0,0 @@ -157905.68749189377 -0.0010012934752416935 0.0016188066220703865 -0.00028401389492163935 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87.71309168707114 -157931.179160000 87.70401517864401 -157931.184158000 87.71309168707114 -157931.192162000 87.70401517864401 -157931.195895000 87.70401517864401 -157931.199221000 87.70401517864401 -157931.204193000 87.70401517864401 -157931.209531000 87.70401517864401 -157931.214159000 87.70401517864401 diff --git a/multi_sessions_20251119_181431/session_004/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_181431/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 79d920b4625183b3223281f2e3496178fd202be4..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/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: 772 - 均值融合 (都低速): 772 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:15:38 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181431/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181431/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 5e3ca8bdb3e7dfd3f921d84b954dff1b57c9ff0b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,773 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -157923.49345588684,0.0008468464901278,0.0010729439624313,0.0004118519451373,-0.0020889512999923,-0.0052031305536309,0.0044999005698564,0.9999741569709536 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a/multi_sessions_20251119_181431/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: 157923.493456s - Vive 第一帧时间戳: 1763547329.377491s - 计算的 offset: -1763389405.884035s - 对齐公式: vive_aligned = vive_original + -1763389405.884035 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:15:38 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181431/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181431/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 01940dd2ebf78ea251c64ee2871dadc86219da5b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,772 +0,0 @@ -157923.49345588684 -0.00077084257800554 0.0018694922818515312 -0.0002925698343354405 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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: 797 - 均值融合 (都低速): 797 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:15:56 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181431/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_181431/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 002cdbcbcd54e53ff7e74d65c0074f5f09b7a542..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,798 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -157940.74746108055,0.0007263452535696,0.0005499444465855,0.0002802556740854,-0.0016704692139362,-0.0050045529531375,0.0030964335001413,0.99998128786589 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0.03404614853861266 -0.011069663993570938 0.044071238585579 0.014254228078940128 0.020328202120938787 0.01648467289527664 0.9995558197219101 -157948.715457 0.03394898260905276 -0.010912915870998127 0.04379999994350975 0.014243471791987187 0.020333174707073083 0.0164537631082606 0.99955638119979 diff --git a/multi_sessions_20251119_181431/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_181431/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index 08bcd5d9d4ba0005ebb8cce72fd5985c0dbd8ab1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/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: 157940.747461s - Vive 第一帧时间戳: 1763547346.627395s - 计算的 offset: -1763389405.879934s - 对齐公式: vive_aligned = vive_original + -1763389405.879934 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:15:56 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_181431/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_181431/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 7366b59cb9437cf03e2f3b7fd3efac32896027b9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_181431/session_005/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,797 +0,0 @@ -157940.74746108055 -0.0010855060689422824 0.0012467032814271488 -0.0006057094673080398 -0.0020069873750701 -0.0005294990454196749 0.0029952878630312004 0.9999933599194821 -157940.75750899315 -0.0011036123863467778 0.0012432652975412806 -0.000607574938056087 -0.0020231643990765305 -0.0005165454698737294 0.002969382072501611 0.9999934113566445 -157940.76756429672 -0.0011194086658438407 0.0012544462365069618 -0.0006133173386566113 -0.002002235965394731 -0.0005044920288224417 0.0029778053114515846 0.9999934345856771 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