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Datasets:
FastUMIPro
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example_data_fastumi_pro_raw

Tasks:
Robotics
Languages:
English
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Tags:
robotics
manipulation
trajectory-data
multimodal
embodied-ai
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Delete multi_sessions_20251119_190548

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  1. multi_sessions_20251119_190548/collection_summary.txt +0 -153
  2. multi_sessions_20251119_190548/session_001/Clamp_Data/clamp.csv +0 -1448
  3. multi_sessions_20251119_190548/session_001/Clamp_Data/clamp_data_tum.txt +0 -1447
  4. multi_sessions_20251119_190548/session_001/Merged_Trajectory/merge_stats.txt +0 -37
  5. multi_sessions_20251119_190548/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
  6. multi_sessions_20251119_190548/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
  7. multi_sessions_20251119_190548/session_001/RGB_Images/timestamps.csv +0 -435
  8. multi_sessions_20251119_190548/session_001/RGB_Images/video.mp4 +0 -3
  9. multi_sessions_20251119_190548/session_001/SLAM_Poses/slam_raw.txt +0 -0
  10. multi_sessions_20251119_190548/session_001/Vive_Poses/offset_info.txt +0 -18
  11. multi_sessions_20251119_190548/session_001/Vive_Poses/vive_data_tum.txt +0 -0
  12. multi_sessions_20251119_190548/session_002/Clamp_Data/clamp.csv +0 -1458
  13. multi_sessions_20251119_190548/session_002/Clamp_Data/clamp_data_tum.txt +0 -1457
  14. multi_sessions_20251119_190548/session_002/Merged_Trajectory/merge_stats.txt +0 -37
  15. multi_sessions_20251119_190548/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
  16. multi_sessions_20251119_190548/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
  17. multi_sessions_20251119_190548/session_002/RGB_Images/timestamps.csv +0 -439
  18. multi_sessions_20251119_190548/session_002/RGB_Images/video.mp4 +0 -3
  19. multi_sessions_20251119_190548/session_002/SLAM_Poses/slam_raw.txt +0 -0
  20. multi_sessions_20251119_190548/session_002/Vive_Poses/offset_info.txt +0 -18
  21. multi_sessions_20251119_190548/session_002/Vive_Poses/vive_data_tum.txt +0 -0
  22. multi_sessions_20251119_190548/session_003/Clamp_Data/clamp.csv +0 -1430
  23. multi_sessions_20251119_190548/session_003/Clamp_Data/clamp_data_tum.txt +0 -1429
  24. multi_sessions_20251119_190548/session_003/Merged_Trajectory/merge_stats.txt +0 -37
  25. multi_sessions_20251119_190548/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
  26. multi_sessions_20251119_190548/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
  27. multi_sessions_20251119_190548/session_003/RGB_Images/timestamps.csv +0 -430
  28. multi_sessions_20251119_190548/session_003/RGB_Images/video.mp4 +0 -3
  29. multi_sessions_20251119_190548/session_003/SLAM_Poses/slam_raw.txt +0 -0
  30. multi_sessions_20251119_190548/session_003/Vive_Poses/offset_info.txt +0 -18
  31. multi_sessions_20251119_190548/session_003/Vive_Poses/vive_data_tum.txt +0 -0
  32. multi_sessions_20251119_190548/session_004/Clamp_Data/clamp.csv +0 -1346
  33. multi_sessions_20251119_190548/session_004/Clamp_Data/clamp_data_tum.txt +0 -1345
  34. multi_sessions_20251119_190548/session_004/Merged_Trajectory/merge_stats.txt +0 -37
  35. multi_sessions_20251119_190548/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
  36. multi_sessions_20251119_190548/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
  37. multi_sessions_20251119_190548/session_004/RGB_Images/timestamps.csv +0 -404
  38. multi_sessions_20251119_190548/session_004/RGB_Images/video.mp4 +0 -3
  39. multi_sessions_20251119_190548/session_004/SLAM_Poses/slam_raw.txt +0 -0
  40. multi_sessions_20251119_190548/session_004/Vive_Poses/offset_info.txt +0 -18
  41. multi_sessions_20251119_190548/session_004/Vive_Poses/vive_data_tum.txt +0 -0
  42. multi_sessions_20251119_190548/session_005/Clamp_Data/clamp.csv +0 -1379
  43. multi_sessions_20251119_190548/session_005/Clamp_Data/clamp_data_tum.txt +0 -1378
  44. multi_sessions_20251119_190548/session_005/Merged_Trajectory/merge_stats.txt +0 -37
  45. multi_sessions_20251119_190548/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
  46. multi_sessions_20251119_190548/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
  47. multi_sessions_20251119_190548/session_005/RGB_Images/timestamps.csv +0 -414
  48. multi_sessions_20251119_190548/session_005/RGB_Images/video.mp4 +0 -3
  49. multi_sessions_20251119_190548/session_005/SLAM_Poses/slam_raw.txt +0 -0
  50. multi_sessions_20251119_190548/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_190548/collection_summary.txt DELETED
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1
- ========================================
2
- 多会话XVisio数据采集摘要（Buffered版本）
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- ========================================
4
- 开始时间: 2025年 11月 19日 星期三 19:05:50 CST
5
- 设备模式: 单设备
6
- 设备数量: 1
7
- 计划会话数: 10
8
- 会话间隔: 1秒
9
- 摘要目录: ./multi_sessions_20251119_190548
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- ToF模式: off
11
- 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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- ========================================
14
-
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- 设备信息:
16
- XV序列号: 250801DR48FP25002087
17
- Vive序列号: LHR_B728E669
18
- 设备标签: main
19
-
20
-
21
- ==========================================
22
- 会话 1 信息:
23
- ==========================================
24
- 开始时间: 2025年 11月 19日 星期三 19:05:50 CST
25
- 输出目录: ./multi_sessions_20251119_190548/session_001
26
- 结束时间: 2025年 11月 19日 星期三 19:06:03 CST
27
- 持续时间: 13秒
28
- 状态: 成功
29
- 数据验证: 通过
30
- 数据目录: ./multi_sessions_20251119_190548/session_001
31
-
32
- ==========================================
33
- 会话 2 信息:
34
- ==========================================
35
- 开始时间: 2025年 11月 19日 星期三 19:06:05 CST
36
- 输出目录: ./multi_sessions_20251119_190548/session_002
37
- 结束时间: 2025年 11月 19日 星期三 19:06:18 CST
38
- 持续时间: 13秒
39
- 状态: 成功
40
- 数据验证: 通过
41
- 数据目录: ./multi_sessions_20251119_190548/session_002
42
-
43
- ==========================================
44
- 会话 3 信息:
45
- ==========================================
46
- 开始时间: 2025年 11月 19日 星期三 19:06:21 CST
47
- 输出目录: ./multi_sessions_20251119_190548/session_003
48
- 结束时间: 2025年 11月 19日 星期三 19:06:34 CST
49
- 持续时间: 13秒
50
- 状态: 成功
51
- 数据验证: 通过
52
- 数据目录: ./multi_sessions_20251119_190548/session_003
53
-
54
- ==========================================
55
- 会话 4 信息:
56
- ==========================================
57
- 开始时间: 2025年 11月 19日 星期三 19:06:36 CST
58
- 输出目录: ./multi_sessions_20251119_190548/session_004
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- 结束时间: 2025年 11月 19日 星期三 19:06:49 CST
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- 持续时间: 13秒
61
- 状态: 成功
62
- 数据验证: 通过
63
- 数据目录: ./multi_sessions_20251119_190548/session_004
64
-
65
- ==========================================
66
- 会话 5 信息:
67
- ==========================================
68
- 开始时间: 2025年 11月 19日 星期三 19:06:52 CST
69
- 输出目录: ./multi_sessions_20251119_190548/session_005
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- 结束时间: 2025年 11月 19日 星期三 19:07:05 CST
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- 持续时间: 13秒
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- 状态: 成功
73
- 数据验证: 通过
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- 数据目录: ./multi_sessions_20251119_190548/session_005
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-
76
- ==========================================
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- 会话 6 信息:
78
- ==========================================
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- 开始时间: 2025年 11月 19日 星期三 19:07:07 CST
80
- 输出目录: ./multi_sessions_20251119_190548/session_006
81
- 结束时间: 2025年 11月 19日 星期三 19:07:21 CST
82
- 持续时间: 14秒
83
- 状态: 成功
84
- 数据验证: 通过
85
- 数据目录: ./multi_sessions_20251119_190548/session_006
86
-
87
- ==========================================
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- 会话 7 信息:
89
- ==========================================
90
- 开始时间: 2025年 11月 19日 星期三 19:07:23 CST
91
- 输出目录: ./multi_sessions_20251119_190548/session_007
92
- 结束时间: 2025年 11月 19日 星期三 19:07:37 CST
93
- 持续时间: 14秒
94
- 状态: 成功
95
- 数据验证: 通过
96
- 数据目录: ./multi_sessions_20251119_190548/session_007
97
-
98
- ==========================================
99
- 会话 8 信息:
100
- ==========================================
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- 开始时间: 2025年 11月 19日 星期三 19:07:39 CST
102
- 输出目录: ./multi_sessions_20251119_190548/session_008
103
- 结束时间: 2025年 11月 19日 星期三 19:07:51 CST
104
- 持续时间: 12秒
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- 状态: 成功
106
- 数据验证: 通过
107
- 数据目录: ./multi_sessions_20251119_190548/session_008
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-
109
- ==========================================
110
- 会话 9 信息:
111
- ==========================================
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- 开始时间: 2025年 11月 19日 星期三 19:07:56 CST
113
- 输出目录: ./multi_sessions_20251119_190548/session_009
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- 结束时间: 2025年 11月 19日 星期三 19:08:10 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
118
- 数据目录: ./multi_sessions_20251119_190548/session_009
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-
120
- ==========================================
121
- 会话 10 信息:
122
- ==========================================
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- 开始时间: 2025年 11月 19日 星期三 19:08:12 CST
124
- 输出目录: ./multi_sessions_20251119_190548/session_010
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- 结束时间: 2025年 11月 19日 星期三 19:08:25 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_190548/session_010
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-
131
- ==========================================
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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 19:08:25 CST
135
- 成功会话数: 10
136
- 失败会话数: 0
137
- 总计划会话数: 10
138
- 实际完成会话数: 10
139
- 成功率: 100%
140
-
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- 数据目录结构:
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- ./multi_sessions_20251119_190548/
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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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- ├─ session_006/
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- ├─ session_007/
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- ├─ session_008/
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- ├─ session_009/
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- ├─ session_010/
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- └─ collection_summary.txt
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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multi_sessions_20251119_190548/session_001/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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-
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- 对齐参数:
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- SLAM 第一帧时间戳: 160945.851773s
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- Vive 第一帧时间戳: 1763550351.737684s
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- 计算的 offset: -1763389405.885911s
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- 生成时间: 2025-11-19 19:06:00
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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_190548/session_002/SLAM_Poses/slam_raw.txt DELETED
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multi_sessions_20251119_190548/session_002/Vive_Poses/offset_info.txt DELETED
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- Vive 时间戳对齐信息
2
- ============================================================
3
-
4
- 对齐参数:
5
- SLAM 第一帧时间戳: 160960.841775s
6
- Vive 第一帧时间戳: 1763550366.727513s
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- 计算的 offset: -1763389405.885738s
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-
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- 生成时间: 2025-11-19 19:06:15
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- 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_190548/session_003/SLAM_Poses/slam_raw.txt DELETED
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multi_sessions_20251119_190548/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: 160977.461777s
6
- Vive 第一帧时间戳: 1763550383.347574s
7
- 计算的 offset: -1763389405.885797s
8
- 对齐公式: vive_aligned = vive_original + -1763389405.885797
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-
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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
- - 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 19:06:32
16
- 设备标签: main
17
- XV 序列号: 250801DR48FP25002087
18
- Vive 序列号: LHR_B728E669
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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- 辅助传感器: SLAM (500Hz)
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- 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: 672
19
- 均值融合 (都低速): 672
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
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-
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 19:06:46
35
- 设备标签: main
36
- XV 序列号: 250801DR48FP25002087
37
- Vive 序列号: LHR_B728E669
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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- Vive 时间戳对齐信息
2
- ============================================================
3
-
4
- 对齐参数:
5
- SLAM 第一帧时间戳: 160992.747780s
6
- Vive 第一帧时间戳: 1763550398.627497s
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- 计算的 offset: -1763389405.879717s
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- 对齐公式: vive_aligned = vive_original + -1763389405.879717
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-
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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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-
15
- 生成时间: 2025-11-19 19:06:46
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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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808
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810
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811
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812
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813
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814
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815
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816
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817
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818
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820
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821
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825
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830
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831
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832
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833
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834
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835
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837
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838
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839
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840
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841
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842
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843
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844
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846
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847
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848
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849
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850
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851
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853
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854
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855
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859
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860
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861
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862
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863
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864
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865
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866
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868
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869
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870
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871
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872
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873
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877
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880
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884
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886
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888
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889
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891
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892
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893
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894
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895
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915
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924
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925
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930
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1103
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1125
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1126
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1128
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- size 3306471
 
 
 
 
multi_sessions_20251119_190548/session_005/SLAM_Poses/slam_raw.txt DELETED
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multi_sessions_20251119_190548/session_005/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: 161008.489779s
6
- Vive 第一帧时间戳: 1763550414.377705s
7
- 计算的 offset: -1763389405.887926s
8
- 对齐公式: vive_aligned = vive_original + -1763389405.887926
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 19:07:02
16
- 设备标签: main
17
- XV 序列号: 250801DR48FP25002087
18
- Vive 序列号: LHR_B728E669