diff --git a/multi_sessions_20251119_193902/collection_summary.txt b/multi_sessions_20251119_193902/collection_summary.txt deleted file mode 100644 index d68320f917d0489115b2ef5890a8ba1b6f8f92cd..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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 19:39:03 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_193902 -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 19:39:03 CST - 输出目录: ./multi_sessions_20251119_193902/session_001 - 结束时间: 2025年 11月 19日 星期三 19:39:16 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193902/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:39:18 CST - 输出目录: ./multi_sessions_20251119_193902/session_002 - 结束时间: 2025年 11月 19日 星期三 19:39:30 CST - 持续时间: 12秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193902/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:39:32 CST - 输出目录: ./multi_sessions_20251119_193902/session_003 - 结束时间: 2025年 11月 19日 星期三 19:39:48 CST - 持续时间: 16秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193902/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:39:54 CST - 输出目录: ./multi_sessions_20251119_193902/session_004 - 结束时间: 2025年 11月 19日 星期三 19:40:07 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193902/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:40:10 CST - 输出目录: ./multi_sessions_20251119_193902/session_005 - 结束时间: 2025年 11月 19日 星期三 19:40:23 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193902/session_005 - -========================================== -会话 6 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:40:25 CST - 输出目录: ./multi_sessions_20251119_193902/session_006 - 结束时间: 2025年 11月 19日 星期三 19:40:38 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193902/session_006 - -========================================== -会话 7 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:40:41 CST - 输出目录: ./multi_sessions_20251119_193902/session_007 - 结束时间: 2025年 11月 19日 星期三 19:40:54 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193902/session_007 - -========================================== -会话 8 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:40:56 CST - 输出目录: ./multi_sessions_20251119_193902/session_008 - 结束时间: 2025年 11月 19日 星期三 19:41:08 CST - 持续时间: 12秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193902/session_008 - -========================================== -会话 9 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:41:10 CST - 输出目录: ./multi_sessions_20251119_193902/session_009 - 结束时间: 2025年 11月 19日 星期三 19:41:22 CST - 持续时间: 12秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193902/session_009 - -========================================== -会话 10 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:41:24 CST - 输出目录: ./multi_sessions_20251119_193902/session_010 - 结束时间: 2025年 11月 19日 星期三 19:41:39 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193902/session_010 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 19:41:39 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_193902/ -├─ 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_193902/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_193902/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index c11c5c916a2b8075710ab39f03e402a915c46330..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_001/Clamp_Data/clamp.csv +++ /dev/null @@ -1,1463 +0,0 @@ -timestamp,clamp -162939.117001,87.32193835760535 -162939.121543,87.32193835760535 -162939.129039,87.32193835760535 -162939.132258,87.32193835760535 -162939.136528,87.32193835760535 -162939.141533,87.32193835760535 -162939.149266,87.32193835760535 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87.41306182041758 -162946.422533000 87.41306182041758 diff --git a/multi_sessions_20251119_193902/session_001/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193902/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 84551faa1a963d76c92548bb446904a33912dee1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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: 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 19:39:13 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193902/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 9eab09fe18a985d5bd916ed5a459bcfce5a43a84..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_001/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 -162939.1194651127,0.0007597385931843,-5.0114494339249306e-05,0.0002335426403934,-0.0013941917042697,-0.0042591542366737,-0.0016107076996096,0.9999886606634028 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SLAM 第一帧时间戳: 162939.119465s - Vive 第一帧时间戳: 1763552345.001993s - 计算的 offset: -1763389405.882528s - 对齐公式: vive_aligned = vive_original + -1763389405.882528 - -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 19:39:13 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193902/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 8cfa360ba72cbbf51eed0c43a0f88aed079e5eb4..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,731 +0,0 @@ -162939.1194651127 -0.0001291105084961358 -1.9068281067172806e-05 -0.0003806296886990741 0.00017521380863322038 0.0006632286096171029 -0.001451816431600553 0.9999987108276598 -162939.1293489933 -0.00017649720538732983 -4.1596157340382395e-05 -9.631189859810036e-05 5.9868864080501646e-05 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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: 681 - 均值融合 (都低速): 681 - 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 19:39:27 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193902/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index be2bc8c23f482d1a0e0b1509eff843406c08f865..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,682 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162953.7914481163,0.0008897729029376,-0.0002980857599047,0.0008040129873628,-0.0016580951710715,-0.0045115823179351,-0.0022455471231473,0.999985926832728 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0.17777256189611473 -0.045925015670228726 0.9821367336415086 diff --git a/multi_sessions_20251119_193902/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193902/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index c3e7ec36d7ebfb492ae50fb32ca39358c633dc3e..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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: 162953.791448s - Vive 第一帧时间戳: 1763552359.671870s - 计算的 offset: -1763389405.880422s - 对齐公式: vive_aligned = vive_original + -1763389405.880422 - -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 19:39:27 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_002/Vive_Poses/vive_data_tum.txt 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b/multi_sessions_20251119_193902/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index b1ea38531f776316d82f409609916a7d3040d92f..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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: 648 - 均值融合 (都低速): 648 - 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 19:39:45 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193902/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 9ce7e8d6b6a8bad60ca647490f3ade086ac1aacf..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,649 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162971.75146508217,0.0006091049201842,-0.0008303190783962,0.0006791227337432,-0.0016862004534062,-0.0043712100243963,-0.003484339141112,0.9999829541705716 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第一帧时间戳: 1763552377.631841s - 计算的 offset: -1763389405.880376s - 对齐公式: vive_aligned = vive_original + -1763389405.880376 - -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 19:39:45 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193902/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 1bc2fba7396d02186b164f37f04858f85316ce4a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,648 +0,0 @@ -162971.75146508217 -0.00015883764768589992 -0.0007458161424947149 0.00019706085660889576 -0.00013017134195781365 0.0002961482744816149 -0.003462812438596107 0.9999939521225297 -162971.7615492344 -0.00010370047364280377 -0.0007067490167375406 0.00020206336147235356 -0.00011783071268493452 0.0003240522651453 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-162997.596680000 87.06628607370038 -162997.601682000 87.06628607370038 -162997.609536000 87.05714184955436 -162997.612397000 87.05714184955436 -162997.616704000 87.05714184955436 -162997.621679000 87.05714184955436 -162997.627287000 87.06628607370038 diff --git a/multi_sessions_20251119_193902/session_004/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193902/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 4916cdd874629935bd0b1afb8c2fed92ab08205a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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: 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 19:40:04 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193902/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index e4ba5114497581401553e3cba7b9c05f380b8145..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_004/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 -162990.6894659996,0.0003228054251109,-0.0014802480709506,0.0004554399805035,-0.0016145027598451,-0.0044649615621031,-0.005013143169048,0.9999761626632178 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-1763389405.882482 - -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 19:40:04 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193902/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index fc111e30bd2bcb5f71f1b52df272a5986d845e36..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,694 +0,0 @@ -162990.6894659996 -0.0006605232195300015 -0.0014262650852592809 -8.209098103655503e-05 -0.00022001550368393958 0.00028645138487735347 -0.004961786175131895 0.9999876250317974 -162990.69943857193 -0.0006141272883338073 -0.0015407327766017 2.5301124553556224e-05 -0.0002569520279036615 0.000395006321680822 -0.0050416185633606865 0.9999871799317843 -162990.70942234993 -0.0005565259704884279 -0.00148651881463327 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86.76402594910616 -163013.037951000 86.76402594910616 -163013.043533000 86.76402594910616 -163013.047902000 86.76402594910616 -163013.052894000 86.76402594910616 -163013.058242000 86.76402594910616 -163013.062894000 86.75485045132025 -163013.067902000 86.75485045132025 -163013.073370000 86.75485045132025 -163013.077892000 86.76402594910616 -163013.082899000 86.76402594910616 -163013.088456000 86.76402594910616 -163013.093273000 86.76402594910616 -163013.097889000 86.76402594910616 diff --git a/multi_sessions_20251119_193902/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193902/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 36e81828443e6c2f23bf61445331a2da2227c556..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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: 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 19:40:20 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193902/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 09f81d2970b4f709802da32b2ad815e7d57bd4d2..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_005/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 -163005.69746804237,0.0007373525097701,-0.0013338881195323,0.0005985117079595,-0.0013684483421324,-0.0041083706893084,-0.0054523517753763,0.999975759955976 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0.9667157230546761 -163013.103464 0.14238315861531445 -0.0757204521566397 -0.019952980048403596 0.005113117015933081 0.24454305037127644 -0.07399247230156863 0.9667976347675838 diff --git a/multi_sessions_20251119_193902/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193902/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index 14ebf136532b6ed59e05f9c0b141262577f3007a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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: 163005.697468s - Vive 第一帧时间戳: 1763552411.581964s - 计算的 offset: -1763389405.884495s - 对齐公式: vive_aligned = vive_original + -1763389405.884495 - -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 19:40:20 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git 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e548b3561b181b367ca68db42f43975ad6cf73de..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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: 669 - 均值融合 (都低速): 669 - 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 19:40:35 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_006/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193902/session_006/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 57cb95033a79394b6980f8939d7ae1de255d7f1d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_006/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,670 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -163021.77346897125,0.0012746823033483,0.0014031996161007,0.0005112996515249,-0.0020666634299331,-0.0047150300165994,0.0033087357687824,0.999981274655592 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时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 163021.773469s - Vive 第一帧时间戳: 1763552427.651916s - 计算的 offset: -1763389405.878447s - 对齐公式: vive_aligned = vive_original + -1763389405.878447 - -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 19:40:35 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_006/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193902/session_006/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 17eebee5d22dd3f9a9d6aee693a617705a95aefa..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_006/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,670 +0,0 @@ -163021.77346897125 0.0003469652308886184 0.0016212423794642202 0.0002549025976308922 -0.0005316644047440714 0.00012241993101764578 0.0032546762455141036 0.9999945546996034 -163021.78340053558 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a/multi_sessions_20251119_193902/session_007/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193902/session_007/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index fbaafeffbc0a1e21dabe7b3b7237ba3db47fd639..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_007/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -轨迹融合统计信息（基于速度的动态融合） -============================================================ - -融合配置: - 速度阈值: 1.0 m/s - 融合频率: 120 Hz - 时间匹配阈值: 0.01 s - 基准传感器: VIVE (100Hz) - 辅助传感器: SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 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 19:40:51 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_007/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193902/session_007/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 6c6e075c61f1bc74c66666e3dc2346ee560e1d54..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_007/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 -163036.81546902657,0.0007319521068842,-0.0005990000790119,0.0004822419253751,-0.0016993633352235,-0.0044778705421542,-0.0024387946224698,0.999985556455918 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0.9885875613294575 diff --git a/multi_sessions_20251119_193902/session_007/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193902/session_007/Vive_Poses/offset_info.txt deleted file mode 100644 index 064e83245cc3fb4627bbd75e1a9999890e990ffe..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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: 163036.815469s - Vive 第一帧时间戳: 1763552442.702012s - 计算的 offset: -1763389405.886543s - 对齐公式: vive_aligned = vive_original + -1763389405.886543 - -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 19:40:51 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_007/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193902/session_007/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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b/multi_sessions_20251119_193902/session_008/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index d3f91154c938a670f560d72c41c31a42db1672ed..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_008/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -轨迹融合统计信息（基于速度的动态融合） -============================================================ - -融合配置: - 速度阈值: 1.0 m/s - 融合频率: 120 Hz - 时间匹配阈值: 0.01 s - 基准传感器: VIVE (100Hz) - 辅助传感器: SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 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 19:41:06 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_008/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193902/session_008/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 86baf841a6022435a3be50b0044d1c5fd4d47794..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_008/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 -163051.3934659958,0.0010427409411595,7.797001593311128e-05,0.0006964813270829,-0.0015083228078725,-0.0047147774304218,-0.000825373447844,0.9999874072180912 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/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: 163051.393466s - Vive 第一帧时间戳: 1763552457.271929s - 计算的 offset: -1763389405.878463s - 对齐公式: vive_aligned = vive_original + -1763389405.878463 - -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 19:41:06 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_008/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193902/session_008/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index d5f16168da3ef295d4880c375083ea223c8e791d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_008/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,723 +0,0 @@ -163051.3934659958 0.0004898276640595278 0.000310033130661074 0.0005258786395973867 1.8730463434362834e-05 -0.00011463960739851958 -0.0008419088816145917 0.9999996388481174 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a/multi_sessions_20251119_193902/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: 676 - 均值融合 (都低速): 676 - 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 19:41:19 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_009/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193902/session_009/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index c307634243ff416c512b9681da86fbf24b9d82e1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_009/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,677 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -163065.72146701813,0.0009918148416347,0.0005457848386592,0.0005298940653695,-0.0015312225160735,-0.0045519244767251,0.0009040153332702,0.9999880589774268 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dc37fcc20206789b0164abbdfdf04d6ae13115e2..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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: 163065.721467s - Vive 第一帧时间戳: 1763552471.601947s - 计算的 offset: -1763389405.880480s - 对齐公式: vive_aligned = vive_original + -1763389405.880480 - -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 19:41:19 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_009/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193902/session_009/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 9b859ef2ab16ccd6a4e7ed09cd2a8fe391fe27c8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_009/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,676 +0,0 @@ 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-163089.642958000 87.28546228389118 -163089.648217000 87.28546228389118 -163089.652984000 87.28546228389118 -163089.657955000 87.28546228389118 -163089.663000000 87.28546228389118 -163089.668569000 87.27634088400632 -163089.673370000 87.28546228389118 -163089.677958000 87.28546228389118 -163089.683713000 87.29458273130982 -163089.687953000 87.29458273130982 -163089.692961000 87.29458273130982 -163089.698012000 87.29458273130982 -163089.702953000 87.29458273130982 -163089.707967000 87.28546228389118 -163089.712995000 87.28546228389118 -163089.718443000 87.29458273130982 diff --git a/multi_sessions_20251119_193902/session_010/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193902/session_010/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index c9482be099ff8a5d321d38c5fb3fe33c1b26d8ec..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/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: 689 - 均值融合 (都低速): 689 - 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 19:41:37 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_010/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193902/session_010/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 7a61d950bd747ebd4f1baf07eec3674b4f67cc60..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_010/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,690 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -163082.8214659691,0.000238441939504,-0.000576721386935,0.0009214079195307,-0.001564217986133,-0.0046317339250319,-0.0035209445659357,0.9999818514414666 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a/multi_sessions_20251119_193902/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: 163082.821466s - Vive 第一帧时间戳: 1763552488.702008s - 计算的 offset: -1763389405.880542s - 对齐公式: vive_aligned = vive_original + -1763389405.880542 - -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 19:41:37 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193902/session_010/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193902/session_010/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 4b1ba2e5a06a8904f2611d32e77a6e13417c3362..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193902/session_010/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,690 +0,0 @@ -163082.8214659691 -0.0005746151995722759 -0.0008024951947751238 5.177456788167111e-05 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