diff --git a/multi_sessions_20251119_193622/collection_summary.txt b/multi_sessions_20251119_193622/collection_summary.txt deleted file mode 100644 index 733e4a42cd3c3d7337687e211204afd32174d316..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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 19:36:23 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_193622 -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 19:36:23 CST - 输出目录: ./multi_sessions_20251119_193622/session_001 - 结束时间: 2025年 11月 19日 星期三 19:36:39 CST - 持续时间: 16秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193622/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:36:40 CST - 输出目录: ./multi_sessions_20251119_193622/session_002 - 结束时间: 2025年 11月 19日 星期三 19:36:53 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193622/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:36:55 CST - 输出目录: ./multi_sessions_20251119_193622/session_003 - 结束时间: 2025年 11月 19日 星期三 19:37:12 CST - 持续时间: 17秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193622/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:37:13 CST - 输出目录: ./multi_sessions_20251119_193622/session_004 - 结束时间: 2025年 11月 19日 星期三 19:37:26 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193622/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:37:28 CST - 输出目录: ./multi_sessions_20251119_193622/session_005 - 结束时间: 2025年 11月 19日 星期三 19:37:43 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193622/session_005 - -========================================== -会话 6 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:37:45 CST - 输出目录: ./multi_sessions_20251119_193622/session_006 - 结束时间: 2025年 11月 19日 星期三 19:37:58 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193622/session_006 - -========================================== -会话 7 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:38:00 CST - 输出目录: ./multi_sessions_20251119_193622/session_007 - 结束时间: 2025年 11月 19日 星期三 19:38:13 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193622/session_007 - -========================================== -会话 8 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:38:15 CST - 输出目录: ./multi_sessions_20251119_193622/session_008 - 结束时间: 2025年 11月 19日 星期三 19:38:29 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193622/session_008 - -========================================== -会话 9 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:38:31 CST - 输出目录: ./multi_sessions_20251119_193622/session_009 - 结束时间: 2025年 11月 19日 星期三 19:38:44 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193622/session_009 - -========================================== -会话 10 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:38:46 CST - 输出目录: ./multi_sessions_20251119_193622/session_010 - 结束时间: 2025年 11月 19日 星期三 19:39:00 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193622/session_010 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 19:39:00 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_193622/ -├─ 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_193622/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_193622/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 35622bc53ff3c0cd277c3e5d0178cf4f610a7163..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_001/Clamp_Data/clamp.csv +++ /dev/null @@ -1,1702 +0,0 @@ -timestamp,clamp -162779.824515,87.975893266592 -162779.828778,87.975893266592 -162779.834325,87.975893266592 -162779.839013,87.975893266592 -162779.843838,87.975893266592 -162779.848759,87.975893266592 -162779.85458,87.975893266592 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86.9198646061935 diff --git a/multi_sessions_20251119_193622/session_001/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193622/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 3bb523b4bcddbcc92ca09beed55ca648871afc7d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 850 - 均值融合 (都低速): 850 - 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 19:36:36 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193622/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index afbfe0e2a5801fe134efccdd0b2df85dcb56b416..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,851 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162779.82346701622,0.000708013734336,-0.0005504291552884,0.0005988179820711,-0.0015876990937671,-0.0044748799472054,-0.0020411693965861,0.9999866440550796 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SLAM 第一帧时间戳: 162779.823467s - Vive 第一帧时间戳: 1763552185.701945s - 计算的 offset: -1763389405.878478s - 对齐公式: vive_aligned = vive_original + -1763389405.878478 - -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 19:36:36 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193622/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 7c03b912fce3363d77412236b96c1d899e1116fa..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,851 +0,0 @@ -162779.82346701622 -0.0002653736262788614 -0.00021486784049377225 8.339145609841614e-05 -0.00014639243394094794 0.0004099304966351812 -0.0019117345718693112 0.9999980778967377 -162779.8334980011 -0.00037995102074285525 -0.00018993114593033198 0.00010903419485855884 -3.606244645869347e-06 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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: 720 - 均值融合 (都低速): 720 - 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 19:36:50 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193622/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 6d816c8424a456436883ab8fd07c918b981af688..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,721 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162796.07346606255,0.0007888826024164,-0.0001298043709828,0.0005793955718894,-0.001485844954849,-0.0045821621045313,-0.0013382280555004,0.9999875025223512 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a/multi_sessions_20251119_193622/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193622/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index a17c1af411e093ab82f2d0b464d5041cfb13fed1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 162796.073466s - Vive 第一帧时间戳: 1763552201.951895s - 计算的 offset: -1763389405.878429s - 对齐公式: vive_aligned = vive_original + -1763389405.878429 - -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 19:36:50 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193622/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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b/multi_sessions_20251119_193622/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index e7eb1dc45fd4d0d561ca701fbec79c46670dc579..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 818 - 均值融合 (都低速): 818 - 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 19:37:08 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193622/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 6ff1839388c192b0c6832ae75375a282ae40677f..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,819 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162813.01146101952,0.0009864875806258,-0.0006602123558957,0.0005641090410939,-0.0017091877487815,-0.0044560441958753,-0.0025427821302257,0.9999853781963026 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= vive_original + -1763389405.880441 - -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 19:37:08 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193622/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index a77513992981e4f7090abadd3fa73aec1f089637..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,818 +0,0 @@ -162813.01146101952 0.00037339478235874635 -0.00018459117957718375 0.0005200189584870013 -0.00023309323625136767 0.00036097092799289277 -0.0025861475635902812 0.9999965635982514 -162813.02144813538 0.000464610205909044 -0.00025216291430278865 0.0005667172128681815 -0.00028722386039406125 0.00038376602206289845 -0.00262913573075993 0.9999964289293255 -162813.03148651123 0.00048813873461002466 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-162836.452428000 87.23984576213162 -162836.460542000 87.24897097071786 -162836.464145000 87.24897097071786 -162836.467405000 87.24897097071786 -162836.472399000 87.24897097071786 -162836.478067000 87.24897097071786 -162836.482400000 87.23984576213162 -162836.487414000 87.23984576213162 -162836.495006000 87.23984576213162 -162836.498166000 87.23984576213162 -162836.502401000 87.24897097071786 diff --git a/multi_sessions_20251119_193622/session_004/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193622/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index c3fa5b71e73feabd78b8d7f1312bc78eee650cad..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 700 - 均值融合 (都低速): 700 - 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 19:37:23 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193622/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 47ba6300f482e9170da62d7eb9e812df32f13130..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,701 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162829.49746608734,0.0008083481134711,-3.829018834901533e-05,0.0005992608132709,-0.0017400165279775,-0.0046062448361166,-0.0016188893886359,0.9999865669338462 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-============================================================ - -对齐参数: - SLAM 第一帧时间戳: 162829.497466s - Vive 第一帧时间戳: 1763552235.381915s - 计算的 offset: -1763389405.884449s - 对齐公式: vive_aligned = vive_original + -1763389405.884449 - -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 19:37:23 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193622/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index ef7ea9e9f292d5844219d417e7bb92871de69072..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,701 +0,0 @@ -162829.49746608734 1.0415234371466409e-05 -2.1106856399181345e-05 0.0004109080253526052 -0.00033978257303451216 0.00012757032355914213 -0.001573686357936939 0.9999986958915809 -162829.50742268562 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86.77320050107619 diff --git a/multi_sessions_20251119_193622/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193622/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 6ba4a268714db12e423f18314b3c695873f35b85..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 795 - 均值融合 (都低速): 795 - 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 19:37:40 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193622/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index ee7cd803c90248c6fac2dc27601359a0a6216d39..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,796 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162844.6374669075,0.0007549995158041,-0.0007074402855568,0.0002982081308324,-0.0016064932858814,-0.0044258114468293,-0.0021810474751029,0.9999865371115108 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0.040795461792343335 -0.015029945971042898 0.9987357648026957 diff --git a/multi_sessions_20251119_193622/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193622/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index af2fa0ddae90226f896cbaa6c3baef7d31b98d84..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 162844.637467s - Vive 第一帧时间戳: 1763552250.521925s - 计算的 offset: -1763389405.884459s - 对齐公式: vive_aligned = vive_original + -1763389405.884459 - -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 19:37:40 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_005/Vive_Poses/vive_data_tum.txt 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b/multi_sessions_20251119_193622/session_006/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 14889d4f08d066daa0318283a47fdb1d9bb624aa..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 769 - 均值融合 (都低速): 769 - 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 19:37:55 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_006/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193622/session_006/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index b436c968d555db542c74ee8aa1a9923bb108be36..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_006/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,770 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162860.41746497154,0.0008420043244656,-0.0005413485688203,0.0004272165316667,-0.0014655520192735,-0.0043976741700213,-0.0023125213596352,0.9999865823420504 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a/multi_sessions_20251119_193622/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: 162860.417465s - Vive 第一帧时间戳: 1763552266.301969s - 计算的 offset: -1763389405.884504s - 对齐公式: vive_aligned = vive_original + -1763389405.884504 - -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 19:37:55 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_006/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193622/session_006/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index d20bfc657750f0f917b592474ef31ef58240f2b0..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_006/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,769 +0,0 @@ -162860.41746497154 -6.369372630293801e-05 -0.00022532161455182987 0.0001613367693705123 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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: 754 - 均值融合 (都低速): 754 - 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 19:38:10 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_007/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193622/session_007/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 36bd32599ad4e2f380433fa07f89ba31a8208390..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_007/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,755 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162875.69346809387,0.000750722685516,0.0001308353629335,0.0007782184656549,-0.0021080327991439,-0.0048071703749093,-0.0006582128382905,0.9999860069353792 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-0.04442082050814854 0.010163314596299551 -0.015172030503523804 0.19841572252063355 -0.050460294756990376 0.9787005513434907 diff --git a/multi_sessions_20251119_193622/session_007/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193622/session_007/Vive_Poses/offset_info.txt deleted file mode 100644 index 6c8af6072dcdeef727f61b1cabe881e9c228e9e7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 162875.693468s - Vive 第一帧时间戳: 1763552281.571924s - 计算的 offset: -1763389405.878456s - 对齐公式: vive_aligned = vive_original + -1763389405.878456 - -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 19:38:10 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_007/Vive_Poses/vive_data_tum.txt 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deleted file mode 100644 index 09d6c1313549483392418552024a58c3845b9eae..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 799 - 均值融合 (都低速): 799 - 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 19:38:26 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_008/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193622/session_008/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index eed33f40d9430223723ede0587870f42862d699e..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_008/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,800 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162891.05946707726,0.001118662789108,0.0001232590153836,0.0007400083210537,-0.0014798323247164,-0.0044483669092052,-0.0003291751517456,0.9999889568249498 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aa0861a81f5b9657e2cdd15c811a87a98d72e35a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 162891.059467s - Vive 第一帧时间戳: 1763552296.942001s - 计算的 offset: -1763389405.882534s - 对齐公式: vive_aligned = vive_original + -1763389405.882534 - -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 19:38:26 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_008/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193622/session_008/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index b0c3683b45b28297737c158481fe60dc76ce32f9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_008/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,799 +0,0 @@ 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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: 723 - 均值融合 (都低速): 723 - 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 19:38:41 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_009/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193622/session_009/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 5ed61d001f163aeba7a9bf2864d9fe3b080dd471..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_009/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,724 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162907.0674650669,0.0006539099763249,-0.0007426692956623,0.0003983977366023,-0.0012732846124795,-0.0045244305071701,-0.0024659783216279,0.9999859135136848 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-============================================================ - -对齐参数: - SLAM 第一帧时间戳: 162907.067465s - Vive 第一帧时间戳: 1763552312.951856s - 计算的 offset: -1763389405.884391s - 对齐公式: vive_aligned = vive_original + -1763389405.884391 - -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 19:38:41 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_009/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193622/session_009/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 6ffe6f1ac766f548d9e7e6baa7faf36e89add342..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_009/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,724 +0,0 @@ -162907.0674650669 -0.0005159455364483756 -0.0005633518542126205 -3.271807415970566e-06 0.0003221514639553127 0.00017729236050807073 -0.0025355545758051668 0.999996717869037 -162907.0775768757 -0.0005113490730204034 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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: 774 - 均值融合 (都低速): 774 - 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 19:38:57 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193622/session_010/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193622/session_010/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 0e640e1489bceb339f50ca57fc84f9baa042b588..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/session_010/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,775 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162921.80747294426,0.0005088711379335,-0.0006821153596195,0.0004399651102517,-0.0015766026631299,-0.0045200665982252,-0.0031255684383643,0.9999836569384158 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-0.03366154499650648 0.19984119427342004 -0.07897295516479004 0.9760602798046651 -162929.555506 0.08351383527043887 -0.07898463998491727 0.02054616447695832 -0.0336190956462557 0.19954267150205574 -0.07879474994718062 0.976137216808432 diff --git a/multi_sessions_20251119_193622/session_010/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193622/session_010/Vive_Poses/offset_info.txt deleted file mode 100644 index 316d1b892b6683fcd0cf00876f1c64639b08fdc3..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193622/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: 162921.807473s - Vive 第一帧时间戳: 1763552327.691923s - 计算的 offset: -1763389405.884450s - 对齐公式: vive_aligned = vive_original + -1763389405.884450 - -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 19:38:57 -设备标签: main -XV 序列号: 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