diff --git a/multi_sessions_20251119_191352/collection_summary.txt b/multi_sessions_20251119_191352/collection_summary.txt deleted file mode 100644 index 575a882d855738cc4daa553359ad2cc2154df086..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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 19:13:53 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_191352 -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 19:13:53 CST - 输出目录: ./multi_sessions_20251119_191352/session_001 - 结束时间: 2025年 11月 19日 星期三 19:14:06 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191352/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:14:08 CST - 输出目录: ./multi_sessions_20251119_191352/session_002 - 结束时间: 2025年 11月 19日 星期三 19:14:22 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191352/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:14:24 CST - 输出目录: ./multi_sessions_20251119_191352/session_003 - 结束时间: 2025年 11月 19日 星期三 19:14:37 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191352/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:14:39 CST - 输出目录: ./multi_sessions_20251119_191352/session_004 - 结束时间: 2025年 11月 19日 星期三 19:14:53 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191352/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:14:54 CST - 输出目录: ./multi_sessions_20251119_191352/session_005 - 结束时间: 2025年 11月 19日 星期三 19:15:09 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191352/session_005 - -========================================== -会话 6 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:15:10 CST - 输出目录: ./multi_sessions_20251119_191352/session_006 - 结束时间: 2025年 11月 19日 星期三 19:15:23 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191352/session_006 - -========================================== -会话 7 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:15:25 CST - 输出目录: ./multi_sessions_20251119_191352/session_007 - 结束时间: 2025年 11月 19日 星期三 19:15:38 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191352/session_007 - -========================================== -会话 8 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:15:39 CST - 输出目录: ./multi_sessions_20251119_191352/session_008 - 结束时间: 2025年 11月 19日 星期三 19:15:54 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191352/session_008 - -========================================== -会话 9 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:15:56 CST - 输出目录: ./multi_sessions_20251119_191352/session_009 - 结束时间: 2025年 11月 19日 星期三 19:16:09 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191352/session_009 - -========================================== -会话 10 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 19:16:11 CST - 输出目录: ./multi_sessions_20251119_191352/session_010 - 结束时间: 2025年 11月 19日 星期三 19:16:28 CST - 持续时间: 17秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_191352/session_010 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 19:16:28 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_191352/ -├─ 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_191352/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_191352/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 765c18f4a76038466ef6d8c7d31d50eefa407d36..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_001/Clamp_Data/clamp.csv +++ /dev/null @@ -1,1381 +0,0 @@ -timestamp,clamp -161429.116381,87.57684354389714 -161429.119797,87.56775268056596 -161429.1248,87.56775268056596 -161429.129885,87.56775268056596 -161429.134808,87.56775268056596 -161429.140735,87.57684354389714 -161429.144802,87.57684354389714 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a/multi_sessions_20251119_191352/session_001/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191352/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 0d4257478cae6728c8dc55c899cf1dbc27adda78..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 690 - 均值融合 (都低速): 690 - 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 19:14:03 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191352/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index d4d1f8abf356dea3660a2957c5259500cb840c2f..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,691 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161429.11777305603,0.0014061355989423,-0.0002630776714474,0.0013652843667708,-0.002030473678847,-0.0050417019168066,-0.0018702625424446,0.999983480131769 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a/multi_sessions_20251119_191352/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_191352/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index 2ce81d87aa39790e5fa5a8300523f438aec4e6c4..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 161429.117773s - Vive 第一帧时间戳: 1763550834.997493s - 计算的 offset: -1763389405.879719s - 对齐公式: vive_aligned = vive_original + -1763389405.879719 - -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 19:14:03 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191352/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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87.41306182041758 -161451.807030000 87.41306182041758 -161451.813518000 87.41306182041758 -161451.817047000 87.41306182041758 -161451.822026000 87.41306182041758 -161451.827143000 87.41306182041758 diff --git a/multi_sessions_20251119_191352/session_002/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191352/session_002/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 03a7aa2d7c67082a01b291f615e53213b2ad1f73..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 838 - 均值融合 (都低速): 838 - 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 19:14:19 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191352/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index dbaa6fb237bd3f87356310df87f6a6b13a2b5f3c..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,839 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161443.44178009033,0.0012785971983414,-0.0002896701049081,0.0013208245263387,-0.0025848507468873,-0.0048307507360446,-0.0013972406264144,0.999984014928526 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-1763389405.885751 - -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 19:14:19 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191352/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index e5b8400ecb9da964230320dd2eb680fd19fee0dd..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_002/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,839 +0,0 @@ -161443.44178009033 0.00010100416090109976 0.00024616334259715137 0.00024364317795907395 -0.0012227799796545743 0.00027476797949306373 -0.0013149712253155079 0.9999983500798165 -161443.45188641548 0.00013640180230097 0.00033832987565291374 0.00025689509448238495 -0.0012433544423367008 0.00035124419613218885 -0.0012368487764112454 0.9999984004498956 -161443.461779356 0.00013737680012074205 0.00037221570884284506 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87.30370222614593 -161467.293161000 87.29458273130982 -161467.297529000 87.30370222614593 -161467.302675000 87.29458273130982 -161467.308195000 87.29458273130982 -161467.313106000 87.29458273130982 -161467.320450000 87.29458273130982 -161467.324157000 87.29458273130982 -161467.327471000 87.29458273130982 -161467.332472000 87.29458273130982 diff --git a/multi_sessions_20251119_191352/session_003/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191352/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 771c08ad4dc81e04f18189002f73cde6679c5653..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 742 - 均值融合 (都低速): 742 - 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 19:14:34 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191352/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 78a04ab7f478563f02bc733ab602d35fda684006..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,743 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161459.91778206825,0.0013786077009516,0.0002898425111045,0.0012860059588281,-0.0023115828599721,-0.0050876770859631,-0.0001326254587283,0.9999843771464824 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-0.002873577724903891 0.9994416302591741 diff --git a/multi_sessions_20251119_191352/session_003/Vive_Poses/offset_info.txt b/multi_sessions_20251119_191352/session_003/Vive_Poses/offset_info.txt deleted file mode 100644 index 24c3cf525a69987b2e7dcce61883c0ed0ef1561a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 161459.917782s - Vive 第一帧时间戳: 1763550865.797556s - 计算的 offset: -1763389405.879774s - 对齐公式: vive_aligned = vive_original + -1763389405.879774 - -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 19:14:34 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191352/session_003/Vive_Poses/vive_data_tum.txt deleted 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-融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 772 - 均值融合 (都低速): 772 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 19:14:50 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191352/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index ac0300fcc0eb2d63f32f1efaa32ac8aeb336d8ff..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,773 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161474.8318889141,0.0014778074891214,0.000175687158783,0.0017363125224301,-0.0031373835507205,-0.0051669184594321,-0.0005698447971887,0.999981567357617 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mode 100644 index 680995a682564a59609c0c079928bc8f866ef76a..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 161474.831889s - Vive 第一帧时间戳: 1763550880.717550s - 计算的 offset: -1763389405.885661s - 对齐公式: vive_aligned = vive_original + -1763389405.885661 - -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 19:14:50 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191352/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 82aa972f07e16d6d1daff7d99cf220c21660f8f4..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,773 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-161498.570680000 87.3857347942701 -161498.575674000 87.3857347942701 -161498.580683000 87.3857347942701 -161498.588627000 87.3857347942701 -161498.592325000 87.3857347942701 -161498.595677000 87.3857347942701 -161498.600686000 87.3857347942701 -161498.605679000 87.3857347942701 -161498.610718000 87.3857347942701 -161498.616843000 87.3857347942701 -161498.620685000 87.3857347942701 diff --git a/multi_sessions_20251119_191352/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191352/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 6698cf91207f093d66541ca61f8db2b8f18aa976..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 748 - 均值融合 (都低速): 748 - 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 19:15:06 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191352/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 484cea1accd1fe072edecf4282570ae3c6d18b02..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,749 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161491.13777208328,0.0013120073177411,0.0002212397260494,0.0013017449804193,-0.0024043711580266,-0.0048304358558877,-0.0003199070838954,0.9999853916674156 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-0.050194849420939526 0.0390816169258249 0.020436644169198923 0.1369706439319188 -0.04793099443199995 0.9892037232283029 -161498.619771 0.07682038322734548 -0.049948971323795735 0.038875830428926283 0.020537919081341983 0.1366105417892379 -0.04775728801283605 0.989259821883775 diff --git a/multi_sessions_20251119_191352/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_191352/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index 84ac840c843274fc942b34a0100fdbb337d36b32..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 161491.137772s - Vive 第一帧时间戳: 1763550897.017576s - 计算的 offset: -1763389405.879804s - 对齐公式: vive_aligned = vive_original + -1763389405.879804 - -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 19:15:06 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191352/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index e1a9e3d0fa76ceb5d92a9784939d111612eb3351..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_005/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,749 +0,0 @@ -161491.13777208328 0.00016573900974449496 0.0004111478493517643 0.00017788287632106655 -0.0010168536116663164 0.0002455134717793367 -0.0002701610114204741 0.9999994163722775 -161491.14783716202 0.00015135166565956315 0.0003859819095366255 0.0001801354091224628 -0.0009899418912865273 0.00023960274268859327 -0.0002842190793370238 0.99999944091239 -161491.15773296356 0.00013488685295087732 0.0003727695169144391 0.00017986775264180557 -0.0009386921535448297 0.00024172752384342804 -0.0002783141332864466 0.9999994914829149 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87.44948449742859 -161513.403301000 87.44948449742859 -161513.408190000 87.44948449742859 -161513.413601000 87.44948449742859 -161513.418177000 87.45858778057632 -161513.423315000 87.44948449742859 -161513.428276000 87.44948449742859 -161513.433549000 87.44948449742859 -161513.438379000 87.45858778057632 -161513.443281000 87.45858778057632 -161513.448293000 87.45858778057632 -161513.453787000 87.45858778057632 -161513.458859000 87.44948449742859 diff --git a/multi_sessions_20251119_191352/session_006/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191352/session_006/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index be9084452bd3dfb7f824bbdc68d08c2d8de2fa75..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 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 19:15:20 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_006/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191352/session_006/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 83d22176b8d506ed409cba171a52b427fe574e5e..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_006/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 -161506.0537800789,0.0014410693559359,0.0001473393765056,0.0013994801397815,-0.0026343341106545,-0.004893374779782,-0.0005612568195045,0.9999843999572396 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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: 161506.053780s - Vive 第一帧时间戳: 1763550911.937557s - 计算的 offset: -1763389405.883777s - 对齐公式: vive_aligned = vive_original + -1763389405.883777 - -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 19:15:20 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_006/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191352/session_006/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index baa384c6fb669b5b95e6b7105f2e53d4db6fdeb9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_006/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,741 +0,0 @@ -161506.0537800789 0.0003803301324648706 0.0006149962716504951 0.00042751393711626385 -0.0011858851171906608 0.0001938243812871824 -0.0005391333764316125 0.9999991327215241 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-161527.776725000 87.40395376564047 -161527.779956000 87.40395376564047 -161527.784990000 87.40395376564047 -161527.789981000 87.40395376564047 -161527.795819000 87.40395376564047 -161527.800107000 87.40395376564047 diff --git a/multi_sessions_20251119_191352/session_007/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191352/session_007/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 83c796231e42cbb241c6288380b26164e0322283..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 726 - 均值融合 (都低速): 726 - 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 19:15:35 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_007/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191352/session_007/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 6509406850c9395032e421fa7734a0776c8206dd..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_007/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,727 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161520.54977703094,0.0013104929950566,-0.0008864330412263,0.0013432465849625,-0.0021416507190722,-0.0048892737147215,-0.0026804724465673,0.9999821615419964 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a/multi_sessions_20251119_191352/session_007/Vive_Poses/offset_info.txt b/multi_sessions_20251119_191352/session_007/Vive_Poses/offset_info.txt deleted file mode 100644 index 9321d6243c1ce11b48970b79b8cfba0c9374da20..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 161520.549777s - Vive 第一帧时间戳: 1763550926.427552s - 计算的 offset: -1763389405.877775s - 对齐公式: vive_aligned = vive_original + -1763389405.877775 - -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 19:15:35 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_007/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191352/session_007/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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87.39484475688592 -161544.422067000 87.39484475688592 -161544.427219000 87.39484475688592 -161544.432479000 87.39484475688592 -161544.437065000 87.39484475688592 -161544.442067000 87.3857347942701 diff --git a/multi_sessions_20251119_191352/session_008/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191352/session_008/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 9112905d78fe472b43e2fda2ba77cdac637bb68d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 716 - 均值融合 (都低速): 716 - 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 19:15:51 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_008/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191352/session_008/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 7c04fa163882c19fe17bf58d0feceeb23e843eb5..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_008/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,717 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161537.28178095818,0.0016822814525336,0.0008783167665933,0.0016565512763896,-0.0024941101130582,-0.0051437996049287,0.0018411058988474,0.9999819653720948 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+0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 161537.281781s - Vive 第一帧时间戳: 1763550943.167508s - 计算的 offset: -1763389405.885727s - 对齐公式: vive_aligned = vive_original + -1763389405.885727 - -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 19:15:51 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_008/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191352/session_008/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index f837306f389b3c9904501ae46edc32144b43879b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_008/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,716 +0,0 @@ -161537.28178095818 0.0008551396105962727 0.0013535207020587375 0.0006583635252634277 -0.0011663684706802986 -0.0003287622815129181 0.0018371233522571047 0.9999975782359383 -161537.29176330566 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87.39484475688592 -161559.253653000 87.39484475688592 -161559.258250000 87.39484475688592 -161559.263122000 87.39484475688592 -161559.268615000 87.39484475688592 -161559.273119000 87.40395376564047 -161559.278037000 87.40395376564047 -161559.283987000 87.39484475688592 diff --git a/multi_sessions_20251119_191352/session_009/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191352/session_009/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 3879fbf122465ec214fcff6cac2010084320d965..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 764 - 均值融合 (都低速): 764 - 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 19:16:06 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_009/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191352/session_009/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 0eab3772b3d6eb02c468e9b46ded52d34fc5e7d1..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_009/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,765 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161551.64578294754,0.0017113245810385,0.0001453514400165,0.0013496551340822,-0.0019929892366156,-0.0044927879447233,-0.0002923778712235,0.9999878786093196 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-============================================================ - -对齐参数: - SLAM 第一帧时间戳: 161551.645783s - Vive 第一帧时间戳: 1763550957.527581s - 计算的 offset: -1763389405.881798s - 对齐公式: vive_aligned = vive_original + -1763389405.881798 - -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 19:16:06 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_009/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191352/session_009/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 7f6b30a9314801844bffaf44808be701580643fa..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_009/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,764 +0,0 @@ -161551.64578294754 0.000757252304849021 0.0005060742077343126 0.00023364052721278284 -0.000547295079583543 0.0006625280530438095 -0.00022150917690294615 0.9999996062291021 -161551.6557059288 0.0008116595337606669 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-161578.535843000 87.36751200791944 -161578.540643000 87.37662387790921 diff --git a/multi_sessions_20251119_191352/session_010/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_191352/session_010/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 0a40ca095eeb81043098d2b4f1782f26f60c101d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 713 - 均值融合 (都低速): 713 - 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 19:16:26 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_010/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_191352/session_010/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 8bdc24f5a2e6fced765299f066f1d61f9966dfa4..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_010/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,714 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -161571.40577292442,0.0017157972206214,-0.0005648469954932,0.0013884448059824,-0.003323506694837,-0.0050335690512727,-0.0027983392688204,0.9999778931472396 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-0.0025114332841729113 0.06823424876952294 -0.018876849521514413 0.9974875661129115 -161578.539771 0.07703141939660235 -0.004343624959544398 0.07026138512898862 -0.0023656633663878745 0.0677175248264309 -0.018995867842752853 0.9975208757079319 diff --git a/multi_sessions_20251119_191352/session_010/Vive_Poses/offset_info.txt b/multi_sessions_20251119_191352/session_010/Vive_Poses/offset_info.txt deleted file mode 100644 index 26eb0cc2a8eff701bc89bfbde1a71e2abb8d5697..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/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: 161571.405773s - Vive 第一帧时间戳: 1763550977.287486s - 计算的 offset: -1763389405.881713s - 对齐公式: vive_aligned = vive_original + -1763389405.881713 - -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 19:16:26 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_191352/session_010/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_191352/session_010/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 74ba623e2ed218b4b874b759a2ae95eb0594143f..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_191352/session_010/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,714 +0,0 @@ -161571.40577292442 0.00036031927215009196 -0.00031428092456210164 0.0002555805544611921 -0.0018813029451464458 6.216010858805095e-05 -0.0028404499279966145 0.999994194322925 -161571.41578888893 0.00035479930662973835 -0.00035033283142038785 0.00025518613244952717 -0.001875719277240051 8.16597942873264e-05 -0.0028586088562382707 0.9999941516650376 -161571.4257762432 0.0003569173650794233 -0.0003585283216163816 0.0003162749543518599 -0.0019326737066461973 3.394695718767976e-05 -0.0028961582649237975 0.9999939379252518 -161571.43578577042 0.00043697496146839765 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