Delete multi_sessions_20251119_182858
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- multi_sessions_20251119_182858/collection_summary.txt +0 -93
- multi_sessions_20251119_182858/session_001/Clamp_Data/clamp.csv +0 -1492
- multi_sessions_20251119_182858/session_001/Clamp_Data/clamp_data_tum.txt +0 -1491
- multi_sessions_20251119_182858/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_182858/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182858/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182858/session_001/RGB_Images/timestamps.csv +0 -448
- multi_sessions_20251119_182858/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182858/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182858/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182858/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182858/session_002/Clamp_Data/clamp.csv +0 -1498
- multi_sessions_20251119_182858/session_002/Clamp_Data/clamp_data_tum.txt +0 -1497
- multi_sessions_20251119_182858/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_182858/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182858/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182858/session_002/RGB_Images/timestamps.csv +0 -450
- multi_sessions_20251119_182858/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182858/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182858/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182858/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182858/session_003/Clamp_Data/clamp.csv +0 -1740
- multi_sessions_20251119_182858/session_003/Clamp_Data/clamp_data_tum.txt +0 -1739
- multi_sessions_20251119_182858/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_182858/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182858/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182858/session_003/RGB_Images/timestamps.csv +0 -523
- multi_sessions_20251119_182858/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182858/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182858/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182858/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182858/session_004/Clamp_Data/clamp.csv +0 -1680
- multi_sessions_20251119_182858/session_004/Clamp_Data/clamp_data_tum.txt +0 -1679
- multi_sessions_20251119_182858/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_182858/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182858/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182858/session_004/RGB_Images/timestamps.csv +0 -505
- multi_sessions_20251119_182858/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182858/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182858/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182858/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182858/session_005/Clamp_Data/clamp.csv +0 -1527
- multi_sessions_20251119_182858/session_005/Clamp_Data/clamp_data_tum.txt +0 -1526
- multi_sessions_20251119_182858/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_182858/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182858/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182858/session_005/RGB_Images/timestamps.csv +0 -459
- multi_sessions_20251119_182858/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182858/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182858/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_182858/collection_summary.txt
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========================================
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多会话XVisio数据采集摘要（Buffered版本）
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========================================
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开始时间: 2025年 11月 19日 星期三 18:28:59 CST
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设备模式: 单设备
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设备数量: 1
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计划会话数: 5
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会话间隔: 3秒
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摘要目录: ./multi_sessions_20251119_182858
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ToF模式: off
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Python脚本: ./single_session_data_collector_buffered.py
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配置文件: ../start_process/config.json
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========================================
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设备信息:
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XV序列号: 250801DR48FP25002087
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Vive序列号: LHR_B728E669
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设备标签: main
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==========================================
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会话 1 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:28:59 CST
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输出目录: ./multi_sessions_20251119_182858/session_001
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结束时间: 2025年 11月 19日 星期三 18:29:13 CST
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持续时间: 14秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182858/session_001
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==========================================
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会话 2 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:29:18 CST
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输出目录: ./multi_sessions_20251119_182858/session_002
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结束时间: 2025年 11月 19日 星期三 18:29:31 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182858/session_002
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==========================================
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会话 3 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:29:34 CST
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输出目录: ./multi_sessions_20251119_182858/session_003
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结束时间: 2025年 11月 19日 星期三 18:29:50 CST
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持续时间: 16秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182858/session_003
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==========================================
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会话 4 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:29:53 CST
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输出目录: ./multi_sessions_20251119_182858/session_004
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结束时间: 2025年 11月 19日 星期三 18:30:08 CST
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持续时间: 15秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182858/session_004
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==========================================
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会话 5 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:30:12 CST
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输出目录: ./multi_sessions_20251119_182858/session_005
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结束时间: 2025年 11月 19日 星期三 18:30:25 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182858/session_005
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==========================================
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采集完成总结:
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==========================================
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完成时间: 2025年 11月 19日 星期三 18:30:25 CST
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成功会话数: 5
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失败会话数: 0
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总计划会话数: 5
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实际完成会话数: 5
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成功率: 100%
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数据目录结构:
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./multi_sessions_20251119_182858/
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├─ session_001/
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├─ session_002/
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├─ session_003/
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├─ session_004/
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├─ session_005/
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└─ collection_summary.txt
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multi_sessions_20251119_182858/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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|
multi_sessions_20251119_182858/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1491 +0,0 @@
|
|
| 1 |
-
158735.741431000 87.60411039633226
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| 2 |
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158735.749834000 87.60411039633226
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158735.753291000 87.60411039633226
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| 4 |
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158735.757044000 87.60411039633226
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158735.761428000 87.60411039633226
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| 6 |
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158735.769263000 87.60411039633226
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| 7 |
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158735.772348000 87.60411039633226
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| 8 |
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158735.776487000 87.60411039633226
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| 9 |
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158735.782594000 87.60411039633226
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158735.786497000 87.60411039633226
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158735.791426000 87.60411039633226
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158735.796432000 87.60411039633226
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158735.801428000 87.59502240189622
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| 14 |
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158735.806436000 87.60411039633226
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| 15 |
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158735.811438000 87.60411039633226
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| 16 |
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158735.816478000 87.60411039633226
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| 17 |
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158735.821427000 87.60411039633226
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| 18 |
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158735.826510000 87.60411039633226
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158735.831745000 87.60411039633226
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| 20 |
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158735.836566000 87.60411039633226
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158735.841566000 87.59502240189622
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| 22 |
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158735.849450000 87.60411039633226
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158735.852282000 87.60411039633226
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| 24 |
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158735.856454000 87.60411039633226
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| 25 |
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158735.861426000 87.59502240189622
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158735.869144000 87.59502240189622
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| 27 |
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158735.872320000 87.60411039633226
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| 28 |
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158735.877047000 87.60411039633226
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158735.882195000 87.60411039633226
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| 30 |
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158735.886891000 87.60411039633226
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| 31 |
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158735.891432000 87.60411039633226
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| 32 |
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158735.896458000 87.60411039633226
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158735.901454000 87.60411039633226
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| 34 |
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158735.906677000 87.60411039633226
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| 35 |
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158735.911447000 87.59502240189622
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| 36 |
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158735.917280000 87.59502240189622
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| 37 |
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158735.921425000 87.60411039633226
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| 38 |
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158735.926944000 87.60411039633226
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158735.931525000 87.60411039633226
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158735.936420000 87.60411039633226
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158735.941408000 87.60411039633226
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| 42 |
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158735.949476000 87.60411039633226
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| 43 |
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158735.953267000 87.60411039633226
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| 44 |
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158735.956861000 87.60411039633226
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| 45 |
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158735.961402000 87.60411039633226
|
| 46 |
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158735.969330000 87.59502240189622
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| 47 |
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158735.972269000 87.59502240189622
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| 48 |
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158735.976504000 87.60411039633226
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| 49 |
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158735.981970000 87.60411039633226
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| 50 |
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158735.986414000 87.60411039633226
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| 51 |
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158735.991406000 87.59502240189622
|
| 52 |
-
158735.996419000 87.59502240189622
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| 53 |
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158736.001420000 87.59502240189622
|
| 54 |
-
158736.006411000 87.60411039633226
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| 55 |
-
158736.011491000 87.59502240189622
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| 56 |
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158736.016551000 87.59502240189622
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| 57 |
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158736.021404000 87.60411039633226
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| 58 |
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158736.026595000 87.59502240189622
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| 59 |
-
158736.031827000 87.60411039633226
|
| 60 |
-
158736.036609000 87.60411039633226
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| 61 |
-
158736.041402000 87.60411039633226
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| 62 |
-
158736.049739000 87.59502240189622
|
| 63 |
-
158736.053251000 87.60411039633226
|
| 64 |
-
158736.056836000 87.60411039633226
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| 65 |
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158736.061442000 87.60411039633226
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| 66 |
-
158736.069277000 87.60411039633226
|
| 67 |
-
158736.072302000 87.60411039633226
|
| 68 |
-
158736.076461000 87.60411039633226
|
| 69 |
-
158736.081426000 87.60411039633226
|
| 70 |
-
158736.086757000 87.60411039633226
|
| 71 |
-
158736.091409000 87.60411039633226
|
| 72 |
-
158736.096410000 87.60411039633226
|
| 73 |
-
158736.102304000 87.60411039633226
|
| 74 |
-
158736.106412000 87.60411039633226
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| 75 |
-
158736.111423000 87.60411039633226
|
| 76 |
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158736.117167000 87.60411039633226
|
| 77 |
-
158736.121395000 87.60411039633226
|
| 78 |
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158736.126719000 87.59502240189622
|
| 79 |
-
158736.131498000 87.60411039633226
|
| 80 |
-
158736.136417000 87.60411039633226
|
| 81 |
-
158736.141374000 87.60411039633226
|
| 82 |
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158736.149313000 87.60411039633226
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| 83 |
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158736.152272000 87.60411039633226
|
| 84 |
-
158736.156705000 87.60411039633226
|
| 85 |
-
158736.161371000 87.60411039633226
|
| 86 |
-
158736.169224000 87.60411039633226
|
| 87 |
-
158736.172235000 87.60411039633226
|
| 88 |
-
158736.176386000 87.60411039633226
|
| 89 |
-
158736.181983000 87.60411039633226
|
| 90 |
-
158736.186381000 87.60411039633226
|
| 91 |
-
158736.191372000 87.60411039633226
|
| 92 |
-
158736.196515000 87.60411039633226
|
| 93 |
-
158736.201373000 87.60411039633226
|
| 94 |
-
158736.206704000 87.60411039633226
|
| 95 |
-
158736.212204000 87.60411039633226
|
| 96 |
-
158736.218231000 87.59502240189622
|
| 97 |
-
158736.221765000 87.60411039633226
|
| 98 |
-
158736.226537000 87.60411039633226
|
| 99 |
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158736.231457000 87.60411039633226
|
| 100 |
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158736.236374000 87.60411039633226
|
| 101 |
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158736.241376000 87.60411039633226
|
| 102 |
-
158736.249153000 87.60411039633226
|
| 103 |
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158736.252249000 87.60411039633226
|
| 104 |
-
158736.256386000 87.60411039633226
|
| 105 |
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158736.262111000 87.60411039633226
|
| 106 |
-
158736.268706000 87.60411039633226
|
| 107 |
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158736.272244000 87.60411039633226
|
| 108 |
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158736.276858000 87.60411039633226
|
| 109 |
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158736.282190000 87.60411039633226
|
| 110 |
-
158736.286412000 87.60411039633226
|
| 111 |
-
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158741.466000000 41.111033685710474
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158741.560940000 78.61594009238583
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158741.778361000 87.0114064878435
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158741.786196000 87.00225656812181
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158741.795862000 87.0114064878435
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158741.805855000 87.0114064878435
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158741.821400000 87.00225656812181
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158741.840854000 86.9931056995459
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158741.875910000 86.98395388223243
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|
multi_sessions_20251119_182858/session_001/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 745
|
| 19 |
-
均值融合 (都低速): 745
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:29:10
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
|
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|
multi_sessions_20251119_182858/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182858/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182858/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,448 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158735.735292
|
| 3 |
-
1,158735.749237
|
| 4 |
-
2,158735.768696
|
| 5 |
-
3,158735.783238
|
| 6 |
-
4,158735.801288
|
| 7 |
-
5,158735.815907
|
| 8 |
-
6,158735.835004
|
| 9 |
-
7,158735.848672
|
| 10 |
-
8,158735.868414
|
| 11 |
-
9,158735.883418
|
| 12 |
-
10,158735.900968
|
| 13 |
-
11,158735.915644
|
| 14 |
-
12,158735.933827
|
| 15 |
-
13,158735.948915
|
| 16 |
-
14,158735.968783
|
| 17 |
-
15,158735.983229
|
| 18 |
-
16,158736.00141
|
| 19 |
-
17,158736.015986
|
| 20 |
-
18,158736.034884
|
| 21 |
-
19,158736.048924
|
| 22 |
-
20,158736.068718
|
| 23 |
-
21,158736.083273
|
| 24 |
-
22,158736.101536
|
| 25 |
-
23,158736.115561
|
| 26 |
-
24,158736.133389
|
| 27 |
-
25,158736.148763
|
| 28 |
-
26,158736.168637
|
| 29 |
-
27,158736.181342
|
| 30 |
-
28,158736.199822
|
| 31 |
-
29,158736.215616
|
| 32 |
-
30,158736.233311
|
| 33 |
-
31,158736.248593
|
| 34 |
-
32,158736.268115
|
| 35 |
-
33,158736.283198
|
| 36 |
-
34,158736.301465
|
| 37 |
-
35,158736.315553
|
| 38 |
-
36,158736.333386
|
| 39 |
-
37,158736.348862
|
| 40 |
-
38,158736.368996
|
| 41 |
-
39,158736.383195
|
| 42 |
-
40,158736.39954
|
| 43 |
-
41,158736.415759
|
| 44 |
-
42,158736.435043
|
| 45 |
-
43,158736.448635
|
| 46 |
-
44,158736.468246
|
| 47 |
-
45,158736.483116
|
| 48 |
-
46,158736.500751
|
| 49 |
-
47,158736.515513
|
| 50 |
-
48,158736.533315
|
| 51 |
-
49,158736.548869
|
| 52 |
-
50,158736.568964
|
| 53 |
-
51,158736.583108
|
| 54 |
-
52,158736.600963
|
| 55 |
-
53,158736.615653
|
| 56 |
-
54,158736.634876
|
| 57 |
-
55,158736.64894
|
| 58 |
-
56,158736.668232
|
| 59 |
-
57,158736.683091
|
| 60 |
-
58,158736.699796
|
| 61 |
-
59,158736.715208
|
| 62 |
-
60,158736.733582
|
| 63 |
-
61,158736.748512
|
| 64 |
-
62,158736.768511
|
| 65 |
-
63,158736.783225
|
| 66 |
-
64,158736.799778
|
| 67 |
-
65,158736.815087
|
| 68 |
-
66,158736.83489
|
| 69 |
-
67,158736.848876
|
| 70 |
-
68,158736.868473
|
| 71 |
-
69,158736.882972
|
| 72 |
-
70,158736.900934
|
| 73 |
-
71,158736.915484
|
| 74 |
-
72,158736.934769
|
| 75 |
-
73,158736.948988
|
| 76 |
-
74,158736.968625
|
| 77 |
-
75,158736.983256
|
| 78 |
-
76,158737.001168
|
| 79 |
-
77,158737.015662
|
| 80 |
-
78,158737.034977
|
| 81 |
-
79,158737.048964
|
| 82 |
-
80,158737.068469
|
| 83 |
-
81,158737.082904
|
| 84 |
-
82,158737.099848
|
| 85 |
-
83,158737.115135
|
| 86 |
-
84,158737.131797
|
| 87 |
-
85,158737.148296
|
| 88 |
-
86,158737.1684
|
| 89 |
-
87,158737.18293
|
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multi_sessions_20251119_182858/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:9781840b6fd5cc3cc010bc20e14f4076ef86978ff71d37ca7621d560289e2014
|
| 3 |
-
size 3561055
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|
multi_sessions_20251119_182858/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182858/session_001/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 158735.740064s
|
| 6 |
-
Vive 第一帧时间戳: 1763548141.622434s
|
| 7 |
-
计算的 offset: -1763389405.882370s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.882370
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:29:10
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
|
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|
multi_sessions_20251119_182858/session_001/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182858/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1498 +0,0 @@
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|
| 1 |
-
timestamp,clamp
|
| 2 |
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158753.319778,87.37662387790921
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|
multi_sessions_20251119_182858/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1497 +0,0 @@
|
|
| 1 |
-
158753.319778000 87.37662387790921
|
| 2 |
-
158753.324761000 87.37662387790921
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| 3 |
-
158753.330500000 87.36751200791944
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| 4 |
-
158753.334691000 87.36751200791944
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| 5 |
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158753.339686000 87.37662387790921
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158753.345612000 87.3857347942701
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| 7 |
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158753.349687000 87.37662387790921
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| 8 |
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158753.354698000 87.37662387790921
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158753.359742000 87.37662387790921
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| 10 |
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158753.365341000 87.37662387790921
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| 11 |
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158753.369688000 87.37662387790921
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158753.375097000 87.37662387790921
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158753.380111000 87.37662387790921
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| 14 |
-
158753.384695000 87.36751200791944
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| 15 |
-
158753.389684000 87.36751200791944
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| 16 |
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158753.394960000 87.36751200791944
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| 17 |
-
158753.399689000 87.36751200791944
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| 18 |
-
158753.405051000 87.36751200791944
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158753.411084000 87.37662387790921
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| 20 |
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158753.414672000 87.37662387790921
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| 21 |
-
158753.420060000 87.37662387790921
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| 22 |
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158753.424686000 87.37662387790921
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| 23 |
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158753.429784000 87.36751200791944
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| 24 |
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158753.434679000 87.36751200791944
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| 25 |
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158753.445858000 87.36751200791944
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158753.449667000 87.37662387790921
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| 28 |
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158753.454676000 87.37662387790921
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158753.460393000 87.37662387790921
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| 35 |
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158753.494755000 87.37662387790921
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| 37 |
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158753.499839000 87.3857347942701
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| 38 |
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158753.504783000 87.37662387790921
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| 39 |
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158753.510484000 87.37662387790921
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| 40 |
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158753.514710000 87.37662387790921
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| 41 |
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158753.519669000 87.37662387790921
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158753.524682000 87.37662387790921
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158753.529724000 87.37662387790921
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| 44 |
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158753.534773000 87.37662387790921
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158753.540272000 87.37662387790921
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| 46 |
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158753.544738000 87.37662387790921
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| 47 |
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158753.549684000 87.37662387790921
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| 48 |
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158753.554695000 87.36751200791944
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| 49 |
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158753.559894000 87.36751200791944
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| 50 |
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158753.564828000 87.37662387790921
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| 51 |
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158753.569694000 87.36751200791944
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| 52 |
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158753.576166000 87.37662387790921
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| 53 |
-
158753.579686000 87.36751200791944
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| 54 |
-
158753.584693000 87.37662387790921
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| 55 |
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158753.590774000 87.37662387790921
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| 56 |
-
158753.595016000 87.37662387790921
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| 57 |
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158753.599698000 87.37662387790921
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158753.604707000 87.37662387790921
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| 59 |
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158753.611043000 87.37662387790921
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| 60 |
-
158753.614671000 87.37662387790921
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158753.619982000 87.37662387790921
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| 62 |
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158753.624736000 87.37662387790921
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| 63 |
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158753.629923000 87.37662387790921
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| 64 |
-
158753.634672000 87.36751200791944
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| 65 |
-
158753.639663000 87.36751200791944
|
| 66 |
-
158753.645586000 87.36751200791944
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| 67 |
-
158753.649659000 87.36751200791944
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| 68 |
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158753.654665000 87.36751200791944
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| 69 |
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158753.661074000 87.37662387790921
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| 70 |
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158753.664937000 87.37662387790921
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| 71 |
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158753.669676000 87.37662387790921
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| 72 |
-
158753.675042000 87.36751200791944
|
| 73 |
-
158753.679788000 87.36751200791944
|
| 74 |
-
158753.684684000 87.37662387790921
|
| 75 |
-
158753.690058000 87.37662387790921
|
| 76 |
-
158753.694848000 87.37662387790921
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| 77 |
-
158753.699870000 87.37662387790921
|
| 78 |
-
158753.704686000 87.37662387790921
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| 79 |
-
158753.709700000 87.37662387790921
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| 80 |
-
158753.714659000 87.37662387790921
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| 81 |
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158753.720078000 87.37662387790921
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| 82 |
-
158753.724769000 87.37662387790921
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| 83 |
-
158753.729729000 87.36751200791944
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| 84 |
-
158753.734665000 87.36751200791944
|
| 85 |
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158753.739842000 87.37662387790921
|
| 86 |
-
158753.744715000 87.37662387790921
|
| 87 |
-
158753.749661000 87.36751200791944
|
| 88 |
-
158753.754680000 87.36751200791944
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| 89 |
-
158753.761840000 87.36751200791944
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| 90 |
-
158753.765983000 87.36751200791944
|
| 91 |
-
158753.769661000 87.36751200791944
|
| 92 |
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158753.776915000 87.37662387790921
|
| 93 |
-
158753.780523000 87.36751200791944
|
| 94 |
-
158753.784692000 87.37662387790921
|
| 95 |
-
158753.791007000 87.37662387790921
|
| 96 |
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158753.794766000 87.37662387790921
|
| 97 |
-
158753.799703000 87.37662387790921
|
| 98 |
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158753.804668000 87.37662387790921
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| 99 |
-
158753.811040000 87.37662387790921
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| 100 |
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158753.814637000 87.37662387790921
|
| 101 |
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158753.819635000 87.37662387790921
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| 102 |
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158753.824644000 87.37662387790921
|
| 103 |
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158753.829722000 87.37662387790921
|
| 104 |
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158753.834640000 87.37662387790921
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| 105 |
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158753.839639000 87.37662387790921
|
| 106 |
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158753.846053000 87.37662387790921
|
| 107 |
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158753.849633000 87.37662387790921
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| 108 |
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158753.854643000 87.37662387790921
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| 109 |
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158753.860366000 87.36751200791944
|
| 110 |
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158753.865041000 87.36751200791944
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| 111 |
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158753.869639000 87.36751200791944
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| 112 |
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158753.874820000 87.36751200791944
|
| 113 |
-
158753.879800000 87.36751200791944
|
| 114 |
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158753.884640000 87.36751200791944
|
| 115 |
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158753.889756000 87.36751200791944
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| 116 |
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158753.894706000 87.36751200791944
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| 117 |
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158753.899756000 87.36751200791944
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| 118 |
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158753.904655000 87.37662387790921
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| 119 |
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158753.910494000 87.37662387790921
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| 120 |
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158753.914638000 87.37662387790921
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| 121 |
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158753.954927000 87.36751200791944
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158753.959658000 87.36751200791944
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158753.974833000 87.36751200791944
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| 133 |
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158753.980154000 87.36751200791944
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| 134 |
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158753.984669000 87.36751200791944
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| 135 |
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158753.990861000 87.36751200791944
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| 136 |
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158753.994835000 87.36751200791944
|
| 137 |
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158753.999625000 87.36751200791944
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| 138 |
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158754.004635000 87.36751200791944
|
| 139 |
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158754.011031000 87.37662387790921
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| 140 |
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158754.014628000 87.37662387790921
|
| 141 |
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158754.019797000 87.37662387790921
|
| 142 |
-
158754.024694000 87.36751200791944
|
| 143 |
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158754.029829000 87.36751200791944
|
| 144 |
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158754.034617000 87.36751200791944
|
| 145 |
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158754.039610000 87.37662387790921
|
| 146 |
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158754.045990000 87.37662387790921
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| 147 |
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158754.049616000 87.36751200791944
|
| 148 |
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158754.054612000 87.36751200791944
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158754.060252000 87.36751200791944
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| 152 |
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158754.074962000 87.37662387790921
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| 153 |
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158754.079784000 87.36751200791944
|
| 154 |
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158754.084643000 87.37662387790921
|
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158754.089607000 87.36751200791944
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158754.094663000 87.36751200791944
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158754.099652000 87.36751200791944
|
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|
| 159 |
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|
| 160 |
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158754.114610000 87.35839918441702
|
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158754.119605000 87.36751200791944
|
| 162 |
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| 163 |
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158754.134690000 87.36751200791944
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158754.154773000 87.36751200791944
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158754.160778000 87.36751200791944
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158760.044853000 86.7364966187689
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| 1347 |
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158760.049040000 86.7364966187689
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| 1348 |
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158760.054063000 86.7364966187689
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| 1349 |
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158760.059989000 86.7364966187689
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| 1350 |
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158760.064029000 86.74567400783549
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| 1351 |
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158760.069029000 86.7364966187689
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| 1352 |
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158760.074388000 86.74567400783549
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158760.079022000 86.74567400783549
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158760.084030000 86.74567400783549
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158760.089371000 86.74567400783549
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158760.094029000 86.74567400783549
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158760.099256000 86.74567400783549
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158760.109703000 86.74567400783549
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158760.114024000 86.7364966187689
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158760.119000000 86.74567400783549
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158760.124281000 86.7364966187689
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158760.159401000 86.7364966187689
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158760.168999000 86.74567400783549
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158760.204011000 86.74567400783549
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158760.219003000 86.74567400783549
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158760.226167000 86.7364966187689
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158760.229898000 86.7364966187689
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158760.234063000 86.7364966187689
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158760.724066000 86.76402594910616
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158760.734002000 86.76402594910616
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158760.739025000 86.75485045132025
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158760.744786000 86.75485045132025
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158760.759207000 86.75485045132025
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158760.763967000 86.75485045132025
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158760.768955000 86.75485045132025
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158760.774010000 86.75485045132025
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158760.778953000 86.75485045132025
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158760.784264000 86.75485045132025
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158760.789477000 86.75485045132025
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158760.794808000 86.75485045132025
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158760.798965000 86.75485045132025
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multi_sessions_20251119_182858/session_002/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 747
|
| 19 |
-
均值融合 (都低速): 747
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:29:28
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_182858/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182858/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182858/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,450 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158753.310884
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-
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multi_sessions_20251119_182858/session_002/RGB_Images/video.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:20e5bb790e0a2dc2fc5a5f0ff7ed1eb5eaac554a933a79e10560cf1882cc0566
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size 3707945
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multi_sessions_20251119_182858/session_002/SLAM_Poses/slam_raw.txt
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multi_sessions_20251119_182858/session_002/Vive_Poses/offset_info.txt
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Vive 时间戳对齐信息
|
| 2 |
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============================================================
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| 3 |
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| 4 |
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对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 158753.320077s
|
| 6 |
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Vive 第一帧时间戳: 1763548159.202447s
|
| 7 |
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计算的 offset: -1763389405.882370s
|
| 8 |
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对齐公式: vive_aligned = vive_original + -1763389405.882370
|
| 9 |
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|
| 10 |
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说明:
|
| 11 |
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- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
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- 时间戳已与 SLAM 数据对齐
|
| 13 |
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- 坐标已转换到 Gripper 坐标系
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| 14 |
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生成时间: 2025-11-19 18:29:28
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| 16 |
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设备标签: main
|
| 17 |
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XV 序列号: 250801DR48FP25002087
|
| 18 |
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_182858/session_002/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_182858/session_003/Clamp_Data/clamp.csv
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158778.777192,86.81905906959325
|
| 1695 |
-
158778.782204,86.81905906959325
|
| 1696 |
-
158778.787559,86.81905906959325
|
| 1697 |
-
158778.792195,86.81905906959325
|
| 1698 |
-
158778.797195,86.81905906959325
|
| 1699 |
-
158778.805351,86.80988924845751
|
| 1700 |
-
158778.809037,86.80988924845751
|
| 1701 |
-
158778.812666,86.81905906959325
|
| 1702 |
-
158778.817724,86.81905906959325
|
| 1703 |
-
158778.822716,86.81905906959325
|
| 1704 |
-
158778.827242,86.81905906959325
|
| 1705 |
-
158778.832606,86.81905906959325
|
| 1706 |
-
158778.837797,86.80988924845751
|
| 1707 |
-
158778.842203,86.80988924845751
|
| 1708 |
-
158778.848046,86.81905906959325
|
| 1709 |
-
158778.852306,86.81905906959325
|
| 1710 |
-
158778.857192,86.81905906959325
|
| 1711 |
-
158778.862201,86.81905906959325
|
| 1712 |
-
158778.867288,86.81905906959325
|
| 1713 |
-
158778.872195,86.81905906959325
|
| 1714 |
-
158778.877189,86.81905906959325
|
| 1715 |
-
158778.882203,86.81905906959325
|
| 1716 |
-
158778.887754,86.81905906959325
|
| 1717 |
-
158778.892196,86.81905906959325
|
| 1718 |
-
158778.897197,86.81905906959325
|
| 1719 |
-
158778.905484,86.81905906959325
|
| 1720 |
-
158778.909035,86.81905906959325
|
| 1721 |
-
158778.91255,86.81905906959325
|
| 1722 |
-
158778.917222,86.81905906959325
|
| 1723 |
-
158778.923713,86.81905906959325
|
| 1724 |
-
158778.927199,86.81905906959325
|
| 1725 |
-
158778.932835,86.81905906959325
|
| 1726 |
-
158778.937777,86.81905906959325
|
| 1727 |
-
158778.942179,86.82822794421122
|
| 1728 |
-
158778.947878,86.82822794421122
|
| 1729 |
-
158778.952339,86.82822794421122
|
| 1730 |
-
158778.957169,86.81905906959325
|
| 1731 |
-
158778.962857,86.81905906959325
|
| 1732 |
-
158778.970946,86.81905906959325
|
| 1733 |
-
158778.97406,86.81905906959325
|
| 1734 |
-
158778.977167,86.81905906959325
|
| 1735 |
-
158778.982443,86.82822794421122
|
| 1736 |
-
158778.987379,86.82822794421122
|
| 1737 |
-
158778.992174,86.81905906959325
|
| 1738 |
-
158778.997175,86.81905906959325
|
| 1739 |
-
158779.005343,86.81905906959325
|
| 1740 |
-
158779.009062,86.81905906959325
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multi_sessions_20251119_182858/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
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@@ -1,1739 +0,0 @@
|
|
| 1 |
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| 1025 |
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158775.438622000 40.991032969919274
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158775.442522000 40.991032969919274
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158775.462580000 40.991032969919274
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158775.597510000 41.003034673171115
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158775.632720000 41.01503601423716
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158775.637636000 41.003034673171115
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158775.642515000 41.003034673171115
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158775.647500000 41.003034673171115
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158775.652509000 41.003034673171115
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158775.677500000 41.003034673171115
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158775.712485000 41.01503601423716
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158775.723734000 41.02703699296437
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158775.732519000 41.01503601423716
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158775.757658000 41.02703699296437
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158775.813658000 41.01503601423716
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158775.817501000 41.01503601423716
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158775.823625000 41.01503601423716
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158775.827506000 41.02703699296437
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158775.832511000 41.02703699296437
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158775.838077000 41.01503601423716
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158775.842509000 41.02703699296437
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158775.847487000 41.02703699296437
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158775.853306000 41.01503601423716
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158775.857887000 41.01503601423716
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158775.862524000 41.02703699296437
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| 1111 |
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158775.870351000 41.02703699296437
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158775.873395000 41.02703699296437
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158775.877510000 41.02703699296437
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158775.882503000 41.02703699296437
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158775.887611000 41.02703699296437
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158775.892486000 41.039037609199646
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158775.897473000 41.039037609199646
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158775.905976000 41.039037609199646
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| 1119 |
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158775.909307000 41.039037609199646
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158775.913047000 41.039037609199646
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158775.917467000 41.039037609199646
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158775.922896000 41.039037609199646
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| 1123 |
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158775.927472000 41.039037609199646
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158775.932479000 41.039037609199646
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| 1125 |
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158775.937556000 41.039037609199646
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158775.942502000 41.039037609199646
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158778.809037000 86.80988924845751
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| 1700 |
-
158778.812666000 86.81905906959325
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| 1701 |
-
158778.817724000 86.81905906959325
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| 1702 |
-
158778.822716000 86.81905906959325
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| 1703 |
-
158778.827242000 86.81905906959325
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| 1704 |
-
158778.832606000 86.81905906959325
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| 1705 |
-
158778.837797000 86.80988924845751
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| 1706 |
-
158778.842203000 86.80988924845751
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| 1707 |
-
158778.848046000 86.81905906959325
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| 1708 |
-
158778.852306000 86.81905906959325
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| 1709 |
-
158778.857192000 86.81905906959325
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| 1710 |
-
158778.862201000 86.81905906959325
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| 1711 |
-
158778.867288000 86.81905906959325
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| 1712 |
-
158778.872195000 86.81905906959325
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| 1713 |
-
158778.877189000 86.81905906959325
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| 1714 |
-
158778.882203000 86.81905906959325
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| 1715 |
-
158778.887754000 86.81905906959325
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| 1716 |
-
158778.892196000 86.81905906959325
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| 1717 |
-
158778.897197000 86.81905906959325
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| 1718 |
-
158778.905484000 86.81905906959325
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| 1719 |
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158778.909035000 86.81905906959325
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| 1720 |
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158778.912550000 86.81905906959325
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| 1721 |
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158778.917222000 86.81905906959325
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| 1722 |
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158778.923713000 86.81905906959325
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| 1723 |
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158778.927199000 86.81905906959325
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| 1724 |
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158778.932835000 86.81905906959325
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| 1725 |
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158778.937777000 86.81905906959325
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| 1726 |
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158778.942179000 86.82822794421122
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| 1727 |
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158778.947878000 86.82822794421122
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| 1728 |
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158778.952339000 86.82822794421122
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| 1729 |
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158778.957169000 86.81905906959325
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| 1730 |
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158778.962857000 86.81905906959325
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| 1731 |
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158778.970946000 86.81905906959325
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| 1732 |
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158778.974060000 86.81905906959325
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| 1733 |
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158778.977167000 86.81905906959325
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| 1734 |
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158778.982443000 86.82822794421122
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| 1735 |
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158778.987379000 86.82822794421122
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| 1736 |
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158778.992174000 86.81905906959325
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| 1737 |
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158778.997175000 86.81905906959325
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| 1738 |
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158779.005343000 86.81905906959325
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| 1739 |
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158779.009062000 86.81905906959325
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multi_sessions_20251119_182858/session_003/Merged_Trajectory/merge_stats.txt
DELETED
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@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 868
|
| 19 |
-
均值融合 (都低速): 868
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:29:46
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_182858/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_182858/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_182858/session_003/RGB_Images/timestamps.csv
DELETED
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| 1 |
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frame_index,timestamp
|
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multi_sessions_20251119_182858/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:b7ae1ae8090f678ed65dd77b6a263529a4f8249c55cc929bf36d638011f22246
|
| 3 |
-
size 4104555
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multi_sessions_20251119_182858/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182858/session_003/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 158770.315980s
|
| 6 |
-
Vive 第一帧时间戳: 1763548176.202600s
|
| 7 |
-
计算的 offset: -1763389405.886620s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.886620
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:29:46
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_182858/session_003/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
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multi_sessions_20251119_182858/session_004/Clamp_Data/clamp.csv
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timestamp,clamp
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158797.105476,87.1028534724098
|
| 1616 |
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158797.110493,87.1028534724098
|
| 1617 |
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158797.116882,87.1028534724098
|
| 1618 |
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158797.120701,87.1028534724098
|
| 1619 |
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158797.12641,87.1028534724098
|
| 1620 |
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158797.130603,87.1028534724098
|
| 1621 |
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158797.135453,87.1028534724098
|
| 1622 |
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158797.140548,87.1028534724098
|
| 1623 |
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158797.145998,87.1028534724098
|
| 1624 |
-
158797.15052,87.11199294703552
|
| 1625 |
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158797.155456,87.11199294703552
|
| 1626 |
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158797.160567,87.11199294703552
|
| 1627 |
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158797.167286,87.11199294703552
|
| 1628 |
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158797.17045,87.11199294703552
|
| 1629 |
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158797.175609,87.11199294703552
|
| 1630 |
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158797.183545,87.11199294703552
|
| 1631 |
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158797.187304,87.1028534724098
|
| 1632 |
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158797.190456,87.1028534724098
|
| 1633 |
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158797.195599,87.1028534724098
|
| 1634 |
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158797.201522,87.1028534724098
|
| 1635 |
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158797.20545,87.1028534724098
|
| 1636 |
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158797.210453,87.1028534724098
|
| 1637 |
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158797.215522,87.1028534724098
|
| 1638 |
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158797.220581,87.1028534724098
|
| 1639 |
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158797.226003,87.11199294703552
|
| 1640 |
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158797.230549,87.11199294703552
|
| 1641 |
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158797.235518,87.11199294703552
|
| 1642 |
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158797.240462,87.11199294703552
|
| 1643 |
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158797.245768,87.11199294703552
|
| 1644 |
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158797.250599,87.11199294703552
|
| 1645 |
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158797.255457,87.1028534724098
|
| 1646 |
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158797.260649,87.1028534724098
|
| 1647 |
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158797.267543,87.1028534724098
|
| 1648 |
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158797.271307,87.1028534724098
|
| 1649 |
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158797.275823,87.1028534724098
|
| 1650 |
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158797.28063,87.1028534724098
|
| 1651 |
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158797.28603,87.09371304764684
|
| 1652 |
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158797.290464,87.1028534724098
|
| 1653 |
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158797.295461,87.1028534724098
|
| 1654 |
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158797.300968,87.1028534724098
|
| 1655 |
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158797.305437,87.1028534724098
|
| 1656 |
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158797.310471,87.1028534724098
|
| 1657 |
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158797.317007,87.1028534724098
|
| 1658 |
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158797.320902,87.1028534724098
|
| 1659 |
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158797.325448,87.1028534724098
|
| 1660 |
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158797.331409,87.1028534724098
|
| 1661 |
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158797.33544,87.1028534724098
|
| 1662 |
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158797.340444,87.11199294703552
|
| 1663 |
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158797.345748,87.1028534724098
|
| 1664 |
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158797.350707,87.1028534724098
|
| 1665 |
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158797.355439,87.1028534724098
|
| 1666 |
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158797.360504,87.1028534724098
|
| 1667 |
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158797.367339,87.1028534724098
|
| 1668 |
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158797.370432,87.1028534724098
|
| 1669 |
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158797.375528,87.1028534724098
|
| 1670 |
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158797.380592,87.1028534724098
|
| 1671 |
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158797.385965,87.1028534724098
|
| 1672 |
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158797.390446,87.1028534724098
|
| 1673 |
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158797.395549,87.1028534724098
|
| 1674 |
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158797.400732,87.1028534724098
|
| 1675 |
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158797.405436,87.1028534724098
|
| 1676 |
-
158797.410437,87.1028534724098
|
| 1677 |
-
158797.416687,87.11199294703552
|
| 1678 |
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158797.420519,87.11199294703552
|
| 1679 |
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158797.425835,87.11199294703552
|
| 1680 |
-
158797.430655,87.1028534724098
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multi_sessions_20251119_182858/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
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@@ -1,1679 +0,0 @@
|
|
| 1 |
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158789.041232000 87.42216892110109
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158789.069702000 87.43127506757487
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158789.386359000 87.42216892110109
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158789.391192000 87.42216892110109
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158789.396192000 87.43127506757487
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158789.401822000 87.43127506757487
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158789.411230000 87.43127506757487
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|
multi_sessions_20251119_182858/session_004/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 839
|
| 19 |
-
均值融合 (都低速): 839
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:30:05
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| 35 |
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设备标签: main
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| 36 |
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XV 序列号: 250801DR48FP25002087
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| 37 |
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_182858/session_004/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_182858/session_004/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_182858/session_004/RGB_Images/timestamps.csv
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multi_sessions_20251119_182858/session_004/RGB_Images/video.mp4
DELETED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:0589741be2a8b540dcfe9b19b5ec770fe2ee5fc6be448c2a0372caf371019c7b
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| 3 |
-
size 4047209
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multi_sessions_20251119_182858/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
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multi_sessions_20251119_182858/session_004/Vive_Poses/offset_info.txt
DELETED
|
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Vive 时间戳对齐信息
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============================================================
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对齐参数:
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SLAM 第一帧时间戳: 158789.039989s
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Vive 第一帧时间戳: 1763548194.922509s
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计算的 offset: -1763389405.882520s
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对齐公式: vive_aligned = vive_original + -1763389405.882520
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说明:
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- 所有保存的 Vive 数据已使用对齐后的时间戳
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- 时间戳已与 SLAM 数据对齐
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- 坐标已转换到 Gripper 坐标系
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生成时间: 2025-11-19 18:30:05
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设备标签: main
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XV 序列号: 250801DR48FP25002087
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_182858/session_004/Vive_Poses/vive_data_tum.txt
DELETED
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_182858/session_005/Clamp_Data/clamp.csv
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158814.544081,87.476791482733
|
| 1410 |
-
158814.548888,87.476791482733
|
| 1411 |
-
158814.553964,87.476791482733
|
| 1412 |
-
158814.562072,87.476791482733
|
| 1413 |
-
158814.565702,87.48589190150977
|
| 1414 |
-
158814.568994,87.48589190150977
|
| 1415 |
-
158814.574273,87.476791482733
|
| 1416 |
-
158814.579941,87.48589190150977
|
| 1417 |
-
158814.583877,87.476791482733
|
| 1418 |
-
158814.589556,87.48589190150977
|
| 1419 |
-
158814.595197,87.48589190150977
|
| 1420 |
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158814.598878,87.48589190150977
|
| 1421 |
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158814.604721,87.48589190150977
|
| 1422 |
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158814.609141,87.476791482733
|
| 1423 |
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158814.613873,87.476791482733
|
| 1424 |
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158814.619125,87.476791482733
|
| 1425 |
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158814.624151,87.48589190150977
|
| 1426 |
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158814.628952,87.476791482733
|
| 1427 |
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158814.633874,87.476791482733
|
| 1428 |
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158814.639095,87.476791482733
|
| 1429 |
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158814.644045,87.48589190150977
|
| 1430 |
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158814.648923,87.476791482733
|
| 1431 |
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158814.653934,87.476791482733
|
| 1432 |
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158814.661482,87.476791482733
|
| 1433 |
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158814.664708,87.476791482733
|
| 1434 |
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158814.669327,87.476791482733
|
| 1435 |
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158814.674481,87.476791482733
|
| 1436 |
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158814.679919,87.48589190150977
|
| 1437 |
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158814.683876,87.48589190150977
|
| 1438 |
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158814.688934,87.48589190150977
|
| 1439 |
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158814.695138,87.476791482733
|
| 1440 |
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158814.698879,87.48589190150977
|
| 1441 |
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158814.703914,87.48589190150977
|
| 1442 |
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158814.709026,87.48589190150977
|
| 1443 |
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158814.714486,87.48589190150977
|
| 1444 |
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158814.719151,87.476791482733
|
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158814.724134,87.476791482733
|
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158814.728863,87.476791482733
|
| 1447 |
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158814.733859,87.48589190150977
|
| 1448 |
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158814.739281,87.48589190150977
|
| 1449 |
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158814.744155,87.48589190150977
|
| 1450 |
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158814.748895,87.48589190150977
|
| 1451 |
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158814.753938,87.48589190150977
|
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158814.761774,87.48589190150977
|
| 1453 |
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158814.764676,87.48589190150977
|
| 1454 |
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158814.76893,87.48589190150977
|
| 1455 |
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158814.773894,87.48589190150977
|
| 1456 |
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158814.779845,87.48589190150977
|
| 1457 |
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158814.783842,87.48589190150977
|
| 1458 |
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158814.789626,87.48589190150977
|
| 1459 |
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158814.795374,87.48589190150977
|
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158814.798845,87.48589190150977
|
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158814.803839,87.48589190150977
|
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158814.808889,87.48589190150977
|
| 1463 |
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158814.813837,87.48589190150977
|
| 1464 |
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158814.819173,87.48589190150977
|
| 1465 |
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158814.82409,87.49499136526408
|
| 1466 |
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158814.828997,87.49499136526408
|
| 1467 |
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158814.833892,87.49499136526408
|
| 1468 |
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158814.83914,87.48589190150977
|
| 1469 |
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158814.844113,87.48589190150977
|
| 1470 |
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158814.848894,87.48589190150977
|
| 1471 |
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158814.853861,87.49499136526408
|
| 1472 |
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158814.861521,87.48589190150977
|
| 1473 |
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158814.864672,87.48589190150977
|
| 1474 |
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158814.869341,87.49499136526408
|
| 1475 |
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158814.873918,87.49499136526408
|
| 1476 |
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158814.879604,87.49499136526408
|
| 1477 |
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158814.883841,87.48589190150977
|
| 1478 |
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158814.888917,87.48589190150977
|
| 1479 |
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158814.894013,87.49499136526408
|
| 1480 |
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158814.898846,87.50408987387988
|
| 1481 |
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158814.904769,87.50408987387988
|
| 1482 |
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158814.908922,87.50408987387988
|
| 1483 |
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158814.914257,87.50408987387988
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| 1484 |
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158814.91914,87.50408987387988
|
| 1485 |
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158814.92384,87.49499136526408
|
| 1486 |
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158814.928927,87.49499136526408
|
| 1487 |
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158814.933861,87.49499136526408
|
| 1488 |
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158814.93886,87.49499136526408
|
| 1489 |
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158814.945575,87.50408987387988
|
| 1490 |
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158814.948842,87.50408987387988
|
| 1491 |
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158814.953864,87.50408987387988
|
| 1492 |
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158814.96265,87.50408987387988
|
| 1493 |
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158814.965654,87.50408987387988
|
| 1494 |
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158814.969152,87.50408987387988
|
| 1495 |
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158814.973854,87.50408987387988
|
| 1496 |
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158814.979889,87.5131874272411
|
| 1497 |
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158814.983826,87.5131874272411
|
| 1498 |
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158814.989442,87.5131874272411
|
| 1499 |
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158814.993907,87.5131874272411
|
| 1500 |
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158814.999002,87.5131874272411
|
| 1501 |
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158815.004883,87.5131874272411
|
| 1502 |
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158815.009022,87.5131874272411
|
| 1503 |
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158815.013821,87.5131874272411
|
| 1504 |
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158815.018893,87.5131874272411
|
| 1505 |
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158815.027758,87.5131874272411
|
| 1506 |
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158815.03066,87.5131874272411
|
| 1507 |
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158815.034319,87.52228402523176
|
| 1508 |
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158815.039234,87.5131874272411
|
| 1509 |
-
158815.044056,87.52228402523176
|
| 1510 |
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158815.048842,87.5131874272411
|
| 1511 |
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158815.053854,87.52228402523176
|
| 1512 |
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158815.061503,87.5131874272411
|
| 1513 |
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158815.064656,87.5131874272411
|
| 1514 |
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158815.069203,87.5131874272411
|
| 1515 |
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158815.073821,87.5131874272411
|
| 1516 |
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158815.079012,87.5131874272411
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158815.083823,87.5131874272411
|
| 1518 |
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158815.088919,87.5131874272411
|
| 1519 |
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158815.094453,87.52228402523176
|
| 1520 |
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158815.09883,87.5131874272411
|
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158815.10438,87.5131874272411
|
| 1522 |
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158815.109063,87.5131874272411
|
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158815.113825,87.5131874272411
|
| 1524 |
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158815.118865,87.5131874272411
|
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158815.124662,87.5131874272411
|
| 1526 |
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158815.129011,87.5131874272411
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| 1527 |
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158815.133857,87.52228402523176
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multi_sessions_20251119_182858/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1526 +0,0 @@
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158814.504423000 87.476791482733
|
| 1401 |
-
158814.508955000 87.476791482733
|
| 1402 |
-
158814.513887000 87.476791482733
|
| 1403 |
-
158814.518919000 87.476791482733
|
| 1404 |
-
158814.524255000 87.476791482733
|
| 1405 |
-
158814.528891000 87.476791482733
|
| 1406 |
-
158814.533926000 87.476791482733
|
| 1407 |
-
158814.539173000 87.476791482733
|
| 1408 |
-
158814.544081000 87.476791482733
|
| 1409 |
-
158814.548888000 87.476791482733
|
| 1410 |
-
158814.553964000 87.476791482733
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| 1411 |
-
158814.562072000 87.476791482733
|
| 1412 |
-
158814.565702000 87.48589190150977
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| 1413 |
-
158814.568994000 87.48589190150977
|
| 1414 |
-
158814.574273000 87.476791482733
|
| 1415 |
-
158814.579941000 87.48589190150977
|
| 1416 |
-
158814.583877000 87.476791482733
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| 1417 |
-
158814.589556000 87.48589190150977
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| 1418 |
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158814.595197000 87.48589190150977
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| 1419 |
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158814.598878000 87.48589190150977
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| 1420 |
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158814.604721000 87.48589190150977
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| 1421 |
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158814.609141000 87.476791482733
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| 1422 |
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158814.613873000 87.476791482733
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| 1423 |
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158814.619125000 87.476791482733
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| 1424 |
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158814.624151000 87.48589190150977
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| 1425 |
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158814.628952000 87.476791482733
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| 1426 |
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158814.633874000 87.476791482733
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| 1427 |
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158814.639095000 87.476791482733
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| 1428 |
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158814.644045000 87.48589190150977
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| 1429 |
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158814.648923000 87.476791482733
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| 1430 |
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158814.653934000 87.476791482733
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| 1431 |
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158814.661482000 87.476791482733
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| 1432 |
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158814.664708000 87.476791482733
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| 1433 |
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158814.669327000 87.476791482733
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| 1434 |
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158814.674481000 87.476791482733
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| 1435 |
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158814.679919000 87.48589190150977
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| 1436 |
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158814.683876000 87.48589190150977
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| 1437 |
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158814.688934000 87.48589190150977
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| 1438 |
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158814.695138000 87.476791482733
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| 1439 |
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158814.698879000 87.48589190150977
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| 1440 |
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158814.703914000 87.48589190150977
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| 1441 |
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158814.709026000 87.48589190150977
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| 1442 |
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158814.714486000 87.48589190150977
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| 1443 |
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158814.719151000 87.476791482733
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| 1444 |
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158814.724134000 87.476791482733
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| 1445 |
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158814.728863000 87.476791482733
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| 1446 |
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158814.733859000 87.48589190150977
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| 1447 |
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158814.739281000 87.48589190150977
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| 1448 |
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158814.744155000 87.48589190150977
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| 1449 |
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158814.748895000 87.48589190150977
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| 1450 |
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158814.753938000 87.48589190150977
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| 1451 |
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158814.761774000 87.48589190150977
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| 1452 |
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158814.764676000 87.48589190150977
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| 1453 |
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158814.768930000 87.48589190150977
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| 1454 |
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158814.773894000 87.48589190150977
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| 1455 |
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158814.779845000 87.48589190150977
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| 1456 |
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158814.783842000 87.48589190150977
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| 1457 |
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158814.789626000 87.48589190150977
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| 1458 |
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158814.795374000 87.48589190150977
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| 1459 |
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158814.798845000 87.48589190150977
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| 1460 |
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158814.803839000 87.48589190150977
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| 1461 |
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158814.808889000 87.48589190150977
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| 1462 |
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158814.813837000 87.48589190150977
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| 1463 |
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158814.819173000 87.48589190150977
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| 1464 |
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158814.824090000 87.49499136526408
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| 1465 |
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158814.828997000 87.49499136526408
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| 1466 |
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158814.833892000 87.49499136526408
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| 1467 |
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158814.839140000 87.48589190150977
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| 1468 |
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158814.844113000 87.48589190150977
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| 1469 |
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158814.848894000 87.48589190150977
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| 1470 |
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158814.853861000 87.49499136526408
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| 1471 |
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158814.861521000 87.48589190150977
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| 1472 |
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158814.864672000 87.48589190150977
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| 1473 |
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158814.869341000 87.49499136526408
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| 1474 |
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158814.873918000 87.49499136526408
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| 1475 |
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158814.879604000 87.49499136526408
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| 1476 |
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158814.883841000 87.48589190150977
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| 1477 |
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158814.888917000 87.48589190150977
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| 1478 |
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158814.894013000 87.49499136526408
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| 1479 |
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158814.898846000 87.50408987387988
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| 1480 |
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158814.904769000 87.50408987387988
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| 1481 |
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158814.908922000 87.50408987387988
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| 1482 |
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158814.914257000 87.50408987387988
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| 1483 |
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158814.919140000 87.50408987387988
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| 1484 |
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158814.923840000 87.49499136526408
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| 1485 |
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158814.928927000 87.49499136526408
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| 1486 |
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158814.933861000 87.49499136526408
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| 1487 |
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158814.938860000 87.49499136526408
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| 1488 |
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158814.945575000 87.50408987387988
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| 1489 |
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158814.948842000 87.50408987387988
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| 1490 |
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158814.953864000 87.50408987387988
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| 1491 |
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158814.962650000 87.50408987387988
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| 1492 |
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158814.965654000 87.50408987387988
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| 1493 |
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158814.969152000 87.50408987387988
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| 1494 |
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158814.973854000 87.50408987387988
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| 1495 |
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158814.979889000 87.5131874272411
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| 1496 |
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158814.983826000 87.5131874272411
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| 1497 |
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158814.989442000 87.5131874272411
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| 1498 |
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158814.993907000 87.5131874272411
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| 1499 |
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158814.999002000 87.5131874272411
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| 1500 |
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158815.004883000 87.5131874272411
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| 1501 |
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158815.009022000 87.5131874272411
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| 1502 |
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158815.013821000 87.5131874272411
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| 1503 |
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158815.018893000 87.5131874272411
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| 1504 |
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158815.027758000 87.5131874272411
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| 1505 |
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158815.030660000 87.5131874272411
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| 1506 |
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158815.034319000 87.52228402523176
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| 1507 |
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158815.039234000 87.5131874272411
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| 1508 |
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158815.044056000 87.52228402523176
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| 1509 |
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158815.048842000 87.5131874272411
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| 1510 |
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158815.053854000 87.52228402523176
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| 1511 |
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158815.061503000 87.5131874272411
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| 1512 |
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158815.064656000 87.5131874272411
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| 1513 |
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158815.069203000 87.5131874272411
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| 1514 |
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158815.073821000 87.5131874272411
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| 1515 |
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158815.079012000 87.5131874272411
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| 1516 |
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158815.083823000 87.5131874272411
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| 1517 |
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158815.088919000 87.5131874272411
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| 1518 |
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158815.094453000 87.52228402523176
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| 1519 |
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158815.098830000 87.5131874272411
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| 1520 |
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158815.104380000 87.5131874272411
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| 1521 |
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158815.109063000 87.5131874272411
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| 1522 |
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158815.113825000 87.5131874272411
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| 1523 |
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158815.118865000 87.5131874272411
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| 1524 |
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158815.124662000 87.5131874272411
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| 1525 |
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158815.129011000 87.5131874272411
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| 1526 |
-
158815.133857000 87.52228402523176
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multi_sessions_20251119_182858/session_005/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 762
|
| 19 |
-
均值融合 (都低速): 762
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:30:22
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_182858/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182858/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182858/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,459 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
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multi_sessions_20251119_182858/session_005/RGB_Images/video.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:85a6894495fd658c5716a6f4093b0151aa18764cd5e1b3585332223a3d22f063
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size 3715036
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multi_sessions_20251119_182858/session_005/SLAM_Poses/slam_raw.txt
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_182858/session_005/Vive_Poses/offset_info.txt
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Vive 时间戳对齐信息
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============================================================
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| 3 |
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| 4 |
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对齐参数:
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| 5 |
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SLAM 第一帧时间戳: 158807.511981s
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| 6 |
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Vive 第一帧时间戳: 1763548213.392500s
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| 7 |
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计算的 offset: -1763389405.880519s
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| 8 |
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对齐公式: vive_aligned = vive_original + -1763389405.880519
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| 9 |
-
|
| 10 |
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说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
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- 时间戳已与 SLAM 数据对齐
|
| 13 |
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- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
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生成时间: 2025-11-19 18:30:22
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| 16 |
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设备标签: main
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| 17 |
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XV 序列号: 250801DR48FP25002087
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| 18 |
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Vive 序列号: LHR_B728E669
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