diff --git a/multi_sessions_20251119_193110/collection_summary.txt b/multi_sessions_20251119_193110/collection_summary.txt deleted file mode 100644 index 4c434c7ce29b712d4c1ab913622f0a1121038a5c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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 19:31:12 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_193110 -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 19:31:12 CST - 输出目录: ./multi_sessions_20251119_193110/session_001 - 结束时间: 2025年 11月 19日 星期三 19:31:26 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193110/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:31:28 CST - 输出目录: ./multi_sessions_20251119_193110/session_002 - 结束时间: 2025年 11月 19日 星期三 19:31:43 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193110/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:31:45 CST - 输出目录: ./multi_sessions_20251119_193110/session_003 - 结束时间: 2025年 11月 19日 星期三 19:31:58 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193110/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:32:00 CST - 输出目录: ./multi_sessions_20251119_193110/session_004 - 结束时间: 2025年 11月 19日 星期三 19:32:13 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193110/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:32:14 CST - 输出目录: ./multi_sessions_20251119_193110/session_005 - 结束时间: 2025年 11月 19日 星期三 19:32:29 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193110/session_005 - -========================================== -会话 6 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:32:31 CST - 输出目录: ./multi_sessions_20251119_193110/session_006 - 结束时间: 2025年 11月 19日 星期三 19:32:46 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193110/session_006 - -========================================== -会话 7 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:32:48 CST - 输出目录: ./multi_sessions_20251119_193110/session_007 - 结束时间: 2025年 11月 19日 星期三 19:33:01 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193110/session_007 - -========================================== -会话 8 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:33:03 CST - 输出目录: ./multi_sessions_20251119_193110/session_008 - 结束时间: 2025年 11月 19日 星期三 19:33:16 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193110/session_008 - -========================================== -会话 9 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:33:17 CST - 输出目录: ./multi_sessions_20251119_193110/session_009 - 结束时间: 2025年 11月 19日 星期三 19:33:30 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193110/session_009 - -========================================== -会话 10 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:33:32 CST - 输出目录: ./multi_sessions_20251119_193110/session_010 - 结束时间: 2025年 11月 19日 星期三 19:33:46 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_193110/session_010 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 19:33:46 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_193110/ -├─ 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_193110/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_193110/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 72ab2352071a221b70f413dd27db8cca6be83863..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_001/Clamp_Data/clamp.csv +++ /dev/null @@ -1,1491 +0,0 @@ -timestamp,clamp -162468.941038,87.54956808582004 -162468.945581,87.54956808582004 -162468.950611,87.54956808582004 -162468.955718,87.54956808582004 -162468.960936,87.54956808582004 -162468.965621,87.54956808582004 -162468.970581,87.54956808582004 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b/multi_sessions_20251119_193110/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index fe34720a6c51aa723d46f6e8b3783eb6c71caac0..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 744 - 均值融合 (都低速): 744 - 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 19:31:23 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193110/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 4a87191b65e0304c3fac28578f6e1c8165fb646b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,745 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162468.9414689541,0.0004975623521312,-0.0001129472841181,0.0005922874999914,-0.001081006744052,-0.0046889611011418,-0.0010510310879638,0.9999878701273648 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1ed2fe9f83a5215c01f7f6ef445488b91ea5c6b5..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 162468.941469s - Vive 第一帧时间戳: 1763551874.821923s - 计算的 offset: -1763389405.880454s - 对齐公式: vive_aligned = vive_original + -1763389405.880454 - -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 19:31:23 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193110/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 11d5957a2326c69f17f01b340b1b302aae960b09..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,745 +0,0 @@ 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87.24897097071786 -162492.454334000 87.24897097071786 -162492.458963000 87.2580952273033 diff --git a/multi_sessions_20251119_193110/session_002/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193110/session_002/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 5766439172795b3cc1461e3a22bf8a16e0139db0..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 837 - 均值融合 (都低速): 837 - 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 19:31:40 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193110/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index ba1c7fc4a6d6a1a6d9f3681e3068ea377fdebf28..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,838 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162484.08751106262,0.0011120953126402,0.0004261229133671,0.0008181592681102,-0.0017512631447951,-0.0050413866502852,0.0018584164579382,0.9999840317656622 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a/multi_sessions_20251119_193110/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: 162484.087511s - Vive 第一帧时间戳: 1763551889.971911s - 计算的 offset: -1763389405.884400s - 对齐公式: vive_aligned = vive_original + -1763389405.884400 - -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 19:31:40 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193110/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index b9e32402ae12d28149726ebaeb8144feb899d6f1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_002/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,838 +0,0 @@ -162484.08751106262 0.0001961818136596294 0.0010232945258772962 0.00027979140804681047 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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: 747 - 均值融合 (都低速): 747 - 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 19:31:55 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193110/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 9ea40550b7810d8b0e8dabbff5c19609adaeeddd..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,748 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162500.5794661045,0.0001696757479957,-0.0007863392090024,0.0002676256526623,-0.0012163455228431,-0.0046621174267968,-0.0026005820671456,0.9999850109564544 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a/multi_sessions_20251119_193110/session_003/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193110/session_003/Vive_Poses/offset_info.txt deleted file mode 100644 index 9a9d8448617dd5a8439c477232545f1f67aa5621..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 162500.579466s - Vive 第一帧时间戳: 1763551906.461853s - 计算的 offset: -1763389405.882387s - 对齐公式: vive_aligned = vive_original + -1763389405.882387 - -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 19:31:55 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193110/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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a/multi_sessions_20251119_193110/session_004/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193110/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 7b07a89e545b45c103c295a593136b4c8ff8dd40..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 711 - 均值融合 (都低速): 711 - 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 19:32:10 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193110/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 2d3f0bd8100845e4949c5ef839fae28a9c4dd57e..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,712 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162515.9114561081,0.0006591559402632,0.0005769058152334,0.0004823088981124,-0.0018324536318504,-0.004940891365377,0.0012482353812765,0.999985335699797 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0.057947323360790816 -0.04690922607394331 0.9972041719977118 diff --git a/multi_sessions_20251119_193110/session_004/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193110/session_004/Vive_Poses/offset_info.txt deleted file mode 100644 index dfa70b50c913edb78cee436cf90e6821102746bc..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 162515.911456s - Vive 第一帧时间戳: 1763551921.791858s - 计算的 offset: -1763389405.880402s - 对齐公式: vive_aligned = vive_original + -1763389405.880402 - -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 19:32:10 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_004/Vive_Poses/vive_data_tum.txt 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87.37662387790921 diff --git a/multi_sessions_20251119_193110/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193110/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index a49a137bb76c406701f72742460468b2ad58e5d9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 804 - 均值融合 (都低速): 804 - 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 19:32:25 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193110/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index a9462d51f86e68086ca637cbfa831b1bb81f8676..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,805 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162530.3534669876,0.0003209068436938,-0.0001144213994928,0.0004092733768668,-0.0015964382298215,-0.004860465083076,-0.0006202367403821,0.999986721197107 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7833717cd293348122eef6b2da4a200554365059..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 162530.353467s - Vive 第一帧时间戳: 1763551936.231867s - 计算的 offset: -1763389405.878400s - 对齐公式: vive_aligned = vive_original + -1763389405.878400 - -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 19:32:25 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193110/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index f83f4d1bbf890d8995534ba6087945686e266cc9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_005/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,804 +0,0 @@ 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-162555.195933000 87.130269045409 -162555.200944000 87.13940566892363 -162555.206469000 87.13940566892363 diff --git a/multi_sessions_20251119_193110/session_006/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193110/session_006/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index ce5b3bd39d58cadd562d67ad0499076b26ba6213..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 837 - 均值融合 (都低速): 837 - 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 19:32:42 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_006/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193110/session_006/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 229e0db80d534d8e1ab847d4246ef164fb5806b5..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_006/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,838 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162546.83346390724,0.0007271972596809,0.0006253952148041,0.0005554865269782,-0.0016713103210818,-0.0047120879926085,0.0014388742675612,0.9999864662031196 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-0.12706907874827394 0.9826951340108775 -162555.209467 0.055026404546140134 -0.06876368270556785 0.0815882048368476 -0.03353411960201263 0.13009798895950564 -0.12661564035717363 0.9828115056856799 diff --git a/multi_sessions_20251119_193110/session_006/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193110/session_006/Vive_Poses/offset_info.txt deleted file mode 100644 index f61b3ba8a541857bff3810720871f979b6949f25..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 162546.833464s - Vive 第一帧时间戳: 1763551952.711842s - 计算的 offset: -1763389405.878378s - 对齐公式: vive_aligned = vive_original + -1763389405.878378 - -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 19:32:42 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_006/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193110/session_006/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index a681df6dde7eb363633869233faea9729cfd7018..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_006/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,838 +0,0 @@ -162546.83346390724 -3.479755915314353e-05 0.0009040084547804569 9.886993657226605e-05 -2.3579392133770502e-05 0.0001295201830972531 0.001384807017881815 0.9999990324885608 -162546.84358882904 -3.577678309343857e-06 0.000836498459922696 6.236508118492344e-05 2.2812079508521726e-05 9.48108942740046e-05 0.001227197409849177 0.9999992422382231 -162546.85349559784 -8.627164368446572e-07 0.0008315004059265534 7.917529998773164e-05 8.444624875419587e-05 4.004230279662443e-06 0.0012358712682804588 0.9999992327372085 -162546.8634803295 6.549768872045336e-05 0.0008525420649599664 0.00012737860533606482 0.00010785010496742845 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a/multi_sessions_20251119_193110/session_007/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193110/session_007/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index d3dce30de53d7e227da9a287c0c66cb7793017e1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 679 - 均值融合 (都低速): 679 - 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 19:32:58 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_007/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193110/session_007/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index de5b4caf06d93ec216acd495294b0bfec9c62e31..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_007/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,680 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162564.5214819908,0.02597158459737,0.0203897437434485,0.0786651797434923,-0.0126402016924023,-0.0227488570007286,0.0173932960452896,0.9995099739667518 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0.03200817829192264 -0.01446473417513147 0.1457257038136198 -0.03240270292862368 0.9886884522215212 diff --git a/multi_sessions_20251119_193110/session_007/Vive_Poses/offset_info.txt b/multi_sessions_20251119_193110/session_007/Vive_Poses/offset_info.txt deleted file mode 100644 index 754824534b66469bbabb80802564cfa2867b7f5d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 162564.521482s - Vive 第一帧时间戳: 1763551970.401941s - 计算的 offset: -1763389405.880459s - 对齐公式: vive_aligned = vive_original + -1763389405.880459 - -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 19:32:58 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_007/Vive_Poses/vive_data_tum.txt 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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: 752 - 均值融合 (都低速): 752 - 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 19:33:13 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_008/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193110/session_008/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 107d2e03ff9c0a7b835b791426cc5299d0b7fe31..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_008/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,753 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162578.23152208328,0.0007723775194001,-4.740034663071254e-05,0.0009509236042585,-0.0016526811921493,-0.0051957904891048,-0.0002761103385697,0.9999850979735404 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100644 index eeefae0a7b1dde9056059a395438d4a1c6dea2d1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 162578.231522s - Vive 第一帧时间戳: 1763551984.111888s - 计算的 offset: -1763389405.880366s - 对齐公式: vive_aligned = vive_original + -1763389405.880366 - -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 19:33:13 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_008/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193110/session_008/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 3690d3e43aad55fb64bee096cf3fcfba44bf6091..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_008/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,753 +0,0 @@ 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a/multi_sessions_20251119_193110/session_009/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_193110/session_009/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 52427869b8b8dbcd5e8bddd2335a4b23a1d84cb7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 683 - 均值融合 (都低速): 683 - 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 19:33:27 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_009/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193110/session_009/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index d0d8bea95b157d944d8bfb42df05f8d80e814945..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_009/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,684 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162593.7534649372,0.0003907810472075,-0.0003837697792617,0.0007822484032864,-0.0016073187246847,-0.0049639784772318,-0.0016742088564556,0.9999849861217416 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b/multi_sessions_20251119_193110/session_009/Vive_Poses/offset_info.txt deleted file mode 100644 index 8a38a0f8bd3730f9c7da961f32deddfcba014b36..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/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: 162593.753465s - Vive 第一帧时间戳: 1763551999.631875s - 计算的 offset: -1763389405.878410s - 对齐公式: vive_aligned = vive_original + -1763389405.878410 - -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 19:33:27 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_009/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193110/session_009/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index b6d856879f4f683c64540c266ffb7d53ef0cb2b2..0000000000000000000000000000000000000000 --- 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a/multi_sessions_20251119_193110/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: 750 - 均值融合 (都低速): 750 - 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 19:33:43 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_010/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_193110/session_010/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 7dc1d5c356827bf2bda90f502d6c09974e99dfed..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_010/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,751 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -162608.04546308515,0.0003970498395748,-0.0007908858562119,0.000333320705212,-0.0013157079216824,-0.0045482276653154,-0.0028863273687579,0.9999846257078604 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a/multi_sessions_20251119_193110/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: 162608.045463s - Vive 第一帧时间戳: 1763552013.931997s - 计算的 offset: -1763389405.886533s - 对齐公式: vive_aligned = vive_original + -1763389405.886533 - -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 19:33:43 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_193110/session_010/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_193110/session_010/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 687ab9417d4102fa9a4042c95ab993749d0b32a5..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_193110/session_010/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,751 +0,0 @@ -162608.04546308517 -0.0005480640996829989 -0.0006105664528185663 -0.00010365337244479933 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