Delete multi_sessions_20251119_181601
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- multi_sessions_20251119_181601/collection_summary.txt +0 -93
- multi_sessions_20251119_181601/session_001/Clamp_Data/clamp.csv +0 -1529
- multi_sessions_20251119_181601/session_001/Clamp_Data/clamp_data_tum.txt +0 -1528
- multi_sessions_20251119_181601/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181601/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181601/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181601/session_001/RGB_Images/timestamps.csv +0 -459
- multi_sessions_20251119_181601/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181601/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181601/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181601/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181601/session_002/Clamp_Data/clamp.csv +0 -1539
- multi_sessions_20251119_181601/session_002/Clamp_Data/clamp_data_tum.txt +0 -1538
- multi_sessions_20251119_181601/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181601/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181601/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181601/session_002/RGB_Images/timestamps.csv +0 -463
- multi_sessions_20251119_181601/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181601/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181601/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181601/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181601/session_003/Clamp_Data/clamp.csv +0 -1512
- multi_sessions_20251119_181601/session_003/Clamp_Data/clamp_data_tum.txt +0 -1511
- multi_sessions_20251119_181601/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181601/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181601/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181601/session_003/RGB_Images/timestamps.csv +0 -454
- multi_sessions_20251119_181601/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181601/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181601/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181601/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181601/session_004/Clamp_Data/clamp.csv +0 -1549
- multi_sessions_20251119_181601/session_004/Clamp_Data/clamp_data_tum.txt +0 -1548
- multi_sessions_20251119_181601/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181601/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181601/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181601/session_004/RGB_Images/timestamps.csv +0 -465
- multi_sessions_20251119_181601/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181601/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181601/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181601/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181601/session_005/Clamp_Data/clamp.csv +0 -1525
- multi_sessions_20251119_181601/session_005/Clamp_Data/clamp_data_tum.txt +0 -1524
- multi_sessions_20251119_181601/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181601/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181601/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181601/session_005/RGB_Images/timestamps.csv +0 -458
- multi_sessions_20251119_181601/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181601/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181601/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_181601/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 18:16:03 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_181601
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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 18:16:03 CST
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输出目录: ./multi_sessions_20251119_181601/session_001
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结束时间: 2025年 11月 19日 星期三 18:16:17 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_181601/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 18:16:21 CST
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输出目录: ./multi_sessions_20251119_181601/session_002
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结束时间: 2025年 11月 19日 星期三 18:16:35 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_181601/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 18:16:39 CST
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输出目录: ./multi_sessions_20251119_181601/session_003
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结束时间: 2025年 11月 19日 星期三 18:16:53 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_181601/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 18:16:56 CST
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输出目录: ./multi_sessions_20251119_181601/session_004
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结束时间: 2025年 11月 19日 星期三 18:17:10 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
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数据目录: ./multi_sessions_20251119_181601/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 18:17:14 CST
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输出目录: ./multi_sessions_20251119_181601/session_005
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结束时间: 2025年 11月 19日 星期三 18:17:28 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_181601/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 18:17:28 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_181601/
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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_181601/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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157966.823627,87.02970348025735
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| 1510 |
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| 1511 |
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157966.83458,87.02055545859425
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| 1512 |
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157966.83862,87.02055545859425
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| 1513 |
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157966.843659,87.02055545859425
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| 1514 |
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157966.848642,87.02055545859425
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| 1515 |
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157966.854223,87.0114064878435
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| 1516 |
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157966.858744,87.0114064878435
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| 1517 |
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157966.863734,87.0114064878435
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| 1518 |
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157966.868935,87.0114064878435
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| 1519 |
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157966.873621,87.02055545859425
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| 1520 |
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157966.878692,87.02055545859425
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| 1521 |
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157966.883653,87.02055545859425
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| 1522 |
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157966.888733,87.02055545859425
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| 1523 |
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157966.894164,87.02055545859425
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| 1524 |
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157966.898781,87.02055545859425
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| 1525 |
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157966.903621,87.02055545859425
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| 1526 |
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157966.908628,87.02055545859425
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| 1527 |
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157966.91378,87.0114064878435
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| 1528 |
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157966.919038,87.0114064878435
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| 1529 |
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|
multi_sessions_20251119_181601/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1528 +0,0 @@
|
|
| 1 |
-
157959.288945000 87.85818546608598
|
| 2 |
-
157959.293680000 87.84912429826412
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
-
157959.336604000 87.85818546608598
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| 11 |
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| 12 |
-
157959.344123000 87.84912429826412
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| 13 |
-
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| 14 |
-
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| 15 |
-
157959.358684000 87.85818546608598
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| 16 |
-
157959.363674000 87.85818546608598
|
| 17 |
-
157959.370255000 87.84912429826412
|
| 18 |
-
157959.373686000 87.85818546608598
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| 19 |
-
157959.378680000 87.84912429826412
|
| 20 |
-
157959.383732000 87.84912429826412
|
| 21 |
-
157959.388987000 87.84912429826412
|
| 22 |
-
157959.393678000 87.84912429826412
|
| 23 |
-
157959.398698000 87.84912429826412
|
| 24 |
-
157959.403736000 87.85818546608598
|
| 25 |
-
157959.408681000 87.85818546608598
|
| 26 |
-
157959.414928000 87.85818546608598
|
| 27 |
-
157959.418710000 87.84912429826412
|
| 28 |
-
157959.423687000 87.84912429826412
|
| 29 |
-
157959.428680000 87.84912429826412
|
| 30 |
-
157959.434880000 87.84912429826412
|
| 31 |
-
157959.438676000 87.85818546608598
|
| 32 |
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157959.443677000 87.85818546608598
|
| 33 |
-
157959.449083000 87.85818546608598
|
| 34 |
-
157959.454439000 87.84912429826412
|
| 35 |
-
157959.458680000 87.84912429826412
|
| 36 |
-
157959.463989000 87.85818546608598
|
| 37 |
-
157959.470136000 87.85818546608598
|
| 38 |
-
157959.473676000 87.8672456741372
|
| 39 |
-
157959.478687000 87.8672456741372
|
| 40 |
-
157959.483684000 87.8672456741372
|
| 41 |
-
157959.489412000 87.85818546608598
|
| 42 |
-
157959.494357000 87.85818546608598
|
| 43 |
-
157959.498747000 87.85818546608598
|
| 44 |
-
157959.503753000 87.85818546608598
|
| 45 |
-
157959.508675000 87.85818546608598
|
| 46 |
-
157959.514531000 87.85818546608598
|
| 47 |
-
157959.518724000 87.85818546608598
|
| 48 |
-
157959.523679000 87.85818546608598
|
| 49 |
-
157959.528708000 87.85818546608598
|
| 50 |
-
157959.536213000 87.85818546608598
|
| 51 |
-
157959.539369000 87.85818546608598
|
| 52 |
-
157959.543893000 87.85818546608598
|
| 53 |
-
157959.548738000 87.85818546608598
|
| 54 |
-
157959.554367000 87.85818546608598
|
| 55 |
-
157959.558682000 87.84912429826412
|
| 56 |
-
157959.563665000 87.84912429826412
|
| 57 |
-
157959.570293000 87.84912429826412
|
| 58 |
-
157959.573686000 87.84912429826412
|
| 59 |
-
157959.578674000 87.84912429826412
|
| 60 |
-
157959.583672000 87.84912429826412
|
| 61 |
-
157959.589067000 87.84912429826412
|
| 62 |
-
157959.593745000 87.84912429826412
|
| 63 |
-
157959.598690000 87.84912429826412
|
| 64 |
-
157959.603669000 87.84912429826412
|
| 65 |
-
157959.608672000 87.85818546608598
|
| 66 |
-
157959.614749000 87.85818546608598
|
| 67 |
-
157959.618785000 87.85818546608598
|
| 68 |
-
157959.623677000 87.85818546608598
|
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157966.623635000 87.0114064878435
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| 1469 |
-
157966.628625000 87.0114064878435
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| 1470 |
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157966.634658000 87.02055545859425
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| 1471 |
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157966.638622000 87.02055545859425
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| 1472 |
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157966.643623000 87.02055545859425
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| 1473 |
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157966.648644000 87.02055545859425
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| 1474 |
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157966.654428000 87.02970348025735
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| 1475 |
-
157966.658645000 87.02970348025735
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| 1476 |
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157966.663659000 87.02970348025735
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| 1477 |
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157966.669925000 87.02055545859425
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| 1478 |
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157966.673622000 87.02055545859425
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| 1479 |
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157966.678642000 87.02055545859425
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| 1480 |
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157966.683638000 87.02055545859425
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| 1481 |
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157966.688978000 87.02055545859425
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| 1482 |
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157966.693625000 87.02055545859425
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| 1483 |
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157966.698870000 87.02055545859425
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| 1484 |
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157966.703629000 87.02970348025735
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| 1485 |
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157966.708632000 87.02055545859425
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| 1486 |
-
157966.713816000 87.02055545859425
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| 1487 |
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157966.718761000 87.02055545859425
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| 1488 |
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157966.723633000 87.02055545859425
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| 1489 |
-
157966.728636000 87.02055545859425
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| 1490 |
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157966.735275000 87.02055545859425
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| 1491 |
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157966.738626000 87.02055545859425
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| 1492 |
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157966.743623000 87.02055545859425
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| 1493 |
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157966.748698000 87.02970348025735
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| 1494 |
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157966.754290000 87.02055545859425
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| 1495 |
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157966.758715000 87.02055545859425
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| 1496 |
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157966.763647000 87.02055545859425
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| 1497 |
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157966.768639000 87.02055545859425
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| 1498 |
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157966.773624000 87.02970348025735
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| 1499 |
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157966.778627000 87.02970348025735
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| 1500 |
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157966.785162000 87.02970348025735
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| 1501 |
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157966.788633000 87.02970348025735
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| 1502 |
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157966.794134000 87.02970348025735
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| 1503 |
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157966.798662000 87.02970348025735
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| 1504 |
-
157966.803625000 87.02970348025735
|
| 1505 |
-
157966.808623000 87.02055545859425
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| 1506 |
-
157966.814533000 87.02055545859425
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| 1507 |
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157966.818644000 87.02055545859425
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| 1508 |
-
157966.823627000 87.02970348025735
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| 1509 |
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157966.828619000 87.02055545859425
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| 1510 |
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157966.834580000 87.02055545859425
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| 1511 |
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157966.838620000 87.02055545859425
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| 1512 |
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157966.843659000 87.02055545859425
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| 1513 |
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157966.848642000 87.02055545859425
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| 1514 |
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157966.854223000 87.0114064878435
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| 1515 |
-
157966.858744000 87.0114064878435
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| 1516 |
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157966.863734000 87.0114064878435
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| 1517 |
-
157966.868935000 87.0114064878435
|
| 1518 |
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157966.873621000 87.02055545859425
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| 1519 |
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157966.878692000 87.02055545859425
|
| 1520 |
-
157966.883653000 87.02055545859425
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| 1521 |
-
157966.888733000 87.02055545859425
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| 1522 |
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157966.894164000 87.02055545859425
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| 1523 |
-
157966.898781000 87.02055545859425
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| 1524 |
-
157966.903621000 87.02055545859425
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| 1525 |
-
157966.908628000 87.02055545859425
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| 1526 |
-
157966.913780000 87.0114064878435
|
| 1527 |
-
157966.919038000 87.0114064878435
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| 1528 |
-
157966.923626000 87.02055545859425
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|
multi_sessions_20251119_181601/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: 764
|
| 19 |
-
均值融合 (都低速): 764
|
| 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%
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| 33 |
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| 34 |
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生成时间: 2025-11-19 18:16:14
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| 35 |
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设备标签: main
|
| 36 |
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XV 序列号: 250801DR48FP25002087
|
| 37 |
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_181601/session_001/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_181601/session_001/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_181601/session_001/RGB_Images/timestamps.csv
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448,157966.753221
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449,157966.767268
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|
multi_sessions_20251119_181601/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:9f9e3a2a0525a2bd85f67eb025eb9dcd3a1c26158e2bbb846245107ee4502d6c
|
| 3 |
-
size 3551653
|
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|
multi_sessions_20251119_181601/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/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: 157959.289461s
|
| 6 |
-
Vive 第一帧时间戳: 1763547365.167472s
|
| 7 |
-
计算的 offset: -1763389405.878011s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.878011
|
| 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 18:16:14
|
| 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_181601/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_181601/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1539 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
157976.858506,87.80380406664018
|
| 3 |
-
157976.863683,87.8128700315816
|
| 4 |
-
157976.868583,87.80380406664018
|
| 5 |
-
157976.874327,87.80380406664018
|
| 6 |
-
157976.878476,87.8128700315816
|
| 7 |
-
157976.883483,87.8128700315816
|
| 8 |
-
157976.888482,87.8128700315816
|
| 9 |
-
157976.894263,87.80380406664018
|
| 10 |
-
157976.898671,87.8128700315816
|
| 11 |
-
157976.903506,87.8128700315816
|
| 12 |
-
157976.908509,87.8128700315816
|
| 13 |
-
157976.9139,87.80380406664018
|
| 14 |
-
157976.919978,87.80380406664018
|
| 15 |
-
157976.923481,87.80380406664018
|
| 16 |
-
157976.929266,87.80380406664018
|
| 17 |
-
157976.934232,87.80380406664018
|
| 18 |
-
157976.938468,87.80380406664018
|
| 19 |
-
157976.943471,87.8128700315816
|
| 20 |
-
157976.950307,87.80380406664018
|
| 21 |
-
157976.953479,87.80380406664018
|
| 22 |
-
157976.95847,87.80380406664018
|
| 23 |
-
157976.963504,87.80380406664018
|
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157983.943351,87.64045280761543
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|
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|
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|
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|
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|
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|
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|
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|
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|
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157984.368426,87.64045280761543
|
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|
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157984.378354,87.64045280761543
|
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157984.383354,87.64045280761543
|
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157984.388519,87.63136863999556
|
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157984.393413,87.64045280761543
|
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multi_sessions_20251119_181601/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1538 +0,0 @@
|
|
| 1 |
-
157976.858506000 87.80380406664018
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| 2 |
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157976.913900000 87.80380406664018
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157976.950307000 87.80380406664018
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157976.953479000 87.80380406664018
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157976.958470000 87.80380406664018
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157976.963504000 87.80380406664018
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157976.968880000 87.8128700315816
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157976.973965000 87.8128700315816
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| 25 |
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157976.978475000 87.8128700315816
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157976.983581000 87.8128700315816
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| 27 |
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157976.988507000 87.8128700315816
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| 28 |
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157976.993519000 87.8128700315816
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157976.998581000 87.8128700315816
|
| 30 |
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157977.003464000 87.80380406664018
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| 37 |
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| 38 |
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157977.043468000 87.8128700315816
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| 39 |
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157977.048482000 87.8128700315816
|
| 40 |
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157977.053833000 87.8128700315816
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| 41 |
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157977.063555000 87.8128700315816
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| 43 |
-
157977.068803000 87.80380406664018
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| 44 |
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157977.074503000 87.8128700315816
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157977.078473000 87.8128700315816
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| 46 |
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157977.083582000 87.8128700315816
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| 47 |
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157977.088557000 87.80380406664018
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| 48 |
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| 49 |
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| 50 |
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157977.103520000 87.80380406664018
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| 51 |
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157977.108520000 87.80380406664018
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| 52 |
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157977.113999000 87.80380406664018
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| 53 |
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157977.118926000 87.80380406664018
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| 54 |
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| 55 |
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| 56 |
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157977.134200000 87.80380406664018
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| 57 |
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157977.138467000 87.80380406664018
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157977.143467000 87.80380406664018
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| 59 |
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157977.148810000 87.8128700315816
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| 61 |
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| 63 |
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| 64 |
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157977.173993000 87.80380406664018
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| 65 |
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157977.178478000 87.80380406664018
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157977.183532000 87.80380406664018
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157977.188476000 87.80380406664018
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157977.194217000 87.80380406664018
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| 69 |
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| 70 |
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157977.203479000 87.80380406664018
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157977.214298000 87.8128700315816
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157977.218498000 87.80380406664018
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| 77 |
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157977.243468000 87.80380406664018
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157977.254355000 87.80380406664018
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157977.268629000 87.80380406664018
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157977.278473000 87.80380406664018
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157977.283520000 87.80380406664018
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157977.288690000 87.80380406664018
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157977.308534000 87.80380406664018
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157982.269125000 87.33105499399606
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157982.273399000 87.48589190150977
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157982.278402000 87.59502240189622
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157983.658370000 87.63136863999556
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| 1362 |
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157983.663629000 87.63136863999556
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| 1363 |
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157983.668586000 87.63136863999556
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| 1364 |
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| 1365 |
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157983.678408000 87.63136863999556
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| 1366 |
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157983.684330000 87.63136863999556
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| 1367 |
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157983.688374000 87.63136863999556
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157983.693865000 87.63136863999556
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157983.698455000 87.63136863999556
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| 1370 |
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157983.703361000 87.64045280761543
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157983.708381000 87.63136863999556
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157983.713898000 87.63136863999556
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157983.718532000 87.63136863999556
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157983.723390000 87.63136863999556
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157983.729264000 87.63136863999556
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157983.743362000 87.63136863999556
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157983.749662000 87.63136863999556
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| 1380 |
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157983.753365000 87.63136863999556
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157983.758364000 87.63136863999556
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157983.764781000 87.63136863999556
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157983.768367000 87.63136863999556
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157983.773398000 87.64045280761543
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157983.778366000 87.64045280761543
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157983.783443000 87.63136863999556
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157983.788379000 87.63136863999556
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157983.793953000 87.63136863999556
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157983.798399000 87.63136863999556
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157983.803362000 87.63136863999556
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157983.808457000 87.63136863999556
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157983.818960000 87.63136863999556
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157983.823366000 87.63136863999556
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157983.828592000 87.63136863999556
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157983.833840000 87.63136863999556
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157983.838359000 87.63136863999556
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157983.843363000 87.63136863999556
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| 1399 |
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157983.849883000 87.63136863999556
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157983.853368000 87.64045280761543
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157983.858362000 87.63136863999556
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157983.898451000 87.63136863999556
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multi_sessions_20251119_181601/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: 768
|
| 19 |
-
均值融合 (都低速): 768
|
| 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 18:16:32
|
| 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_181601/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,463 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,157976.851924
|
| 3 |
-
1,157976.865597
|
| 4 |
-
2,157976.883866
|
| 5 |
-
3,157976.900661
|
| 6 |
-
4,157976.918793
|
| 7 |
-
5,157976.932289
|
| 8 |
-
6,157976.950901
|
| 9 |
-
7,157976.968323
|
| 10 |
-
8,157976.984997
|
| 11 |
-
9,157976.999741
|
| 12 |
-
10,157977.018502
|
| 13 |
-
11,157977.032351
|
| 14 |
-
12,157977.051918
|
| 15 |
-
13,157977.065589
|
| 16 |
-
14,157977.083987
|
| 17 |
-
15,157977.100696
|
| 18 |
-
16,157977.11845
|
| 19 |
-
17,157977.132406
|
| 20 |
-
18,157977.151573
|
| 21 |
-
19,157977.165499
|
| 22 |
-
20,157977.183961
|
| 23 |
-
21,157977.200756
|
| 24 |
-
22,157977.218767
|
| 25 |
-
23,157977.232321
|
| 26 |
-
24,157977.251556
|
| 27 |
-
25,157977.265628
|
| 28 |
-
26,157977.283762
|
| 29 |
-
27,157977.300661
|
| 30 |
-
28,157977.318566
|
| 31 |
-
29,157977.332375
|
| 32 |
-
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|
| 33 |
-
31,157977.365498
|
| 34 |
-
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|
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|
| 36 |
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|
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-
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|
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-
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|
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-
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|
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|
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-
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|
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40,157977.518797
|
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|
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-
42,157977.551397
|
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-
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|
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-
44,157977.584525
|
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-
45,157977.600596
|
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-
46,157977.619822
|
| 49 |
-
47,157977.63249
|
| 50 |
-
48,157977.651748
|
| 51 |
-
49,157977.665659
|
| 52 |
-
50,157977.683504
|
| 53 |
-
51,157977.700657
|
| 54 |
-
52,157977.718755
|
| 55 |
-
53,157977.732553
|
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54,157977.751696
|
| 57 |
-
55,157977.765345
|
| 58 |
-
56,157977.784592
|
| 59 |
-
57,157977.80052
|
| 60 |
-
58,157977.819839
|
| 61 |
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59,157977.832423
|
| 62 |
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60,157977.851578
|
| 63 |
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61,157977.86539
|
| 64 |
-
62,157977.883796
|
| 65 |
-
63,157977.898526
|
| 66 |
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64,157977.919044
|
| 67 |
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65,157977.932192
|
| 68 |
-
66,157977.951688
|
| 69 |
-
67,157977.965352
|
| 70 |
-
68,157977.983542
|
| 71 |
-
69,157978.000531
|
| 72 |
-
70,157978.017185
|
| 73 |
-
71,157978.032012
|
| 74 |
-
72,157978.05202
|
| 75 |
-
73,157978.06534
|
| 76 |
-
74,157978.083279
|
| 77 |
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75,157978.098744
|
| 78 |
-
76,157978.119268
|
| 79 |
-
77,157978.132108
|
| 80 |
-
78,157978.151559
|
| 81 |
-
79,157978.165339
|
| 82 |
-
80,157978.183608
|
| 83 |
-
81,157978.200696
|
| 84 |
-
82,157978.217376
|
| 85 |
-
83,157978.232251
|
| 86 |
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84,157978.25174
|
| 87 |
-
85,157978.26528
|
| 88 |
-
86,157978.28352
|
| 89 |
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87,157978.300748
|
| 90 |
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88,157978.319428
|
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-
89,157978.332155
|
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90,157978.351622
|
| 93 |
-
91,157978.365382
|
| 94 |
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92,157978.383927
|
| 95 |
-
93,157978.400792
|
| 96 |
-
94,157978.418565
|
| 97 |
-
95,157978.432223
|
| 98 |
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96,157978.451783
|
| 99 |
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97,157978.46537
|
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98,157978.484618
|
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99,157978.500518
|
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100,157978.5191
|
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101,157978.532118
|
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102,157978.551574
|
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103,157978.565484
|
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|
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105,157978.600694
|
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|
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107,157978.632233
|
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108,157978.65222
|
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109,157978.665136
|
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110,157978.683596
|
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111,157978.700873
|
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112,157978.719468
|
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|
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|
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115,157978.76538
|
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116,157978.784675
|
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117,157978.80056
|
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118,157978.818731
|
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119,157978.832257
|
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120,157978.851348
|
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121,157978.865236
|
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|
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123,157978.900485
|
| 126 |
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124,157978.919222
|
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125,157978.932082
|
| 128 |
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126,157978.951461
|
| 129 |
-
127,157978.96555
|
| 130 |
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128,157978.983609
|
| 131 |
-
129,157979.000717
|
| 132 |
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130,157979.01748
|
| 133 |
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131,157979.032389
|
| 134 |
-
132,157979.051337
|
| 135 |
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133,157979.065288
|
| 136 |
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134,157979.085002
|
| 137 |
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135,157979.099855
|
| 138 |
-
136,157979.117107
|
| 139 |
-
137,157979.131936
|
| 140 |
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138,157979.151446
|
| 141 |
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139,157979.165367
|
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140,157979.182951
|
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141,157979.200171
|
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142,157979.218385
|
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143,157979.232305
|
| 146 |
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144,157979.251372
|
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145,157979.267474
|
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146,157979.283621
|
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147,157979.30098
|
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148,157979.318259
|
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149,157979.33195
|
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150,157979.351261
|
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|
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152,157979.38295
|
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|
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154,157979.418347
|
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155,157979.431989
|
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|
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|
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|
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|
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|
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163,157979.567221
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|
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166,157979.618556
|
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|
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168,157979.651462
|
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|
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171,157979.700655
|
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172,157979.718212
|
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|
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174,157979.750853
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175,157979.767191
|
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176,157979.784209
|
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-
177,157979.800304
|
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multi_sessions_20251119_181601/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:16b46dc3cb72b9a15f8ad7bc253c2b1d988ce9505e3894e990eebc2234039a86
|
| 3 |
-
size 3593495
|
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|
multi_sessions_20251119_181601/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/session_002/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: 157976.861460s
|
| 6 |
-
Vive 第一帧时间戳: 1763547382.747487s
|
| 7 |
-
计算的 offset: -1763389405.886027s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.886027
|
| 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 18:16:32
|
| 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_181601/session_002/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/session_003/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1512 +0,0 @@
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timestamp,clamp
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multi_sessions_20251119_181601/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1511 +0,0 @@
|
|
| 1 |
-
157995.038203000 87.84006217078714
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| 2 |
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157995.413290000 87.84006217078714
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158002.049838000 87.69493771241248
|
| 1404 |
-
158002.053095000 87.69493771241248
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| 1405 |
-
158002.058193000 87.69493771241248
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| 1406 |
-
158002.064024000 87.69493771241248
|
| 1407 |
-
158002.068090000 87.69493771241248
|
| 1408 |
-
158002.073757000 87.69493771241248
|
| 1409 |
-
158002.078202000 87.69493771241248
|
| 1410 |
-
158002.083195000 87.69493771241248
|
| 1411 |
-
158002.088090000 87.69493771241248
|
| 1412 |
-
158002.094361000 87.69493771241248
|
| 1413 |
-
158002.098092000 87.70401517864401
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| 1414 |
-
158002.103130000 87.70401517864401
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| 1415 |
-
158002.108252000 87.70401517864401
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| 1416 |
-
158002.113195000 87.69493771241248
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| 1417 |
-
158002.118138000 87.70401517864401
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| 1418 |
-
158002.123086000 87.70401517864401
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| 1419 |
-
158002.129595000 87.70401517864401
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| 1420 |
-
158002.133087000 87.70401517864401
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| 1421 |
-
158002.138365000 87.70401517864401
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| 1422 |
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158002.143397000 87.70401517864401
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| 1423 |
-
158002.149673000 87.70401517864401
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| 1424 |
-
158002.153093000 87.70401517864401
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| 1425 |
-
158002.158391000 87.70401517864401
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| 1426 |
-
158002.163416000 87.70401517864401
|
| 1427 |
-
158002.168092000 87.70401517864401
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| 1428 |
-
158002.173306000 87.70401517864401
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| 1429 |
-
158002.178583000 87.69493771241248
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| 1430 |
-
158002.183092000 87.70401517864401
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| 1431 |
-
158002.188153000 87.70401517864401
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| 1432 |
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158002.195048000 87.70401517864401
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| 1433 |
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158002.198803000 87.70401517864401
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| 1434 |
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158002.203366000 87.70401517864401
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| 1435 |
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158002.208093000 87.70401517864401
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| 1436 |
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158002.214947000 87.69493771241248
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| 1437 |
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158002.218786000 87.69493771241248
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| 1438 |
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158002.223134000 87.69493771241248
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| 1439 |
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158002.229784000 87.69493771241248
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| 1440 |
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158002.233150000 87.69493771241248
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| 1441 |
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158002.238082000 87.70401517864401
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| 1442 |
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158002.243087000 87.70401517864401
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| 1443 |
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158002.248929000 87.70401517864401
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| 1444 |
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158002.253089000 87.69493771241248
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| 1445 |
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158002.258138000 87.69493771241248
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| 1446 |
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158002.263080000 87.70401517864401
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| 1447 |
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158002.268080000 87.70401517864401
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| 1448 |
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158002.274458000 87.70401517864401
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| 1449 |
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158002.278106000 87.70401517864401
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| 1450 |
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158002.283158000 87.70401517864401
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| 1451 |
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158002.288126000 87.69493771241248
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| 1452 |
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158002.294821000 87.69493771241248
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| 1453 |
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158002.298109000 87.70401517864401
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| 1454 |
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158002.303076000 87.70401517864401
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| 1455 |
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158002.308331000 87.70401517864401
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| 1456 |
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158002.314757000 87.70401517864401
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| 1457 |
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158002.318084000 87.70401517864401
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| 1458 |
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158002.323077000 87.70401517864401
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| 1459 |
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158002.328662000 87.70401517864401
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| 1460 |
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158002.333082000 87.70401517864401
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| 1461 |
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158002.338090000 87.70401517864401
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| 1462 |
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158002.343329000 87.70401517864401
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| 1463 |
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158002.349584000 87.70401517864401
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| 1464 |
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158002.353084000 87.70401517864401
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| 1465 |
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158002.358108000 87.70401517864401
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| 1466 |
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158002.363083000 87.70401517864401
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| 1467 |
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158002.368110000 87.70401517864401
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| 1468 |
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158002.373856000 87.70401517864401
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| 1469 |
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158002.378632000 87.70401517864401
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| 1470 |
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158002.383083000 87.70401517864401
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| 1471 |
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158002.388165000 87.70401517864401
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| 1472 |
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158002.395511000 87.70401517864401
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| 1473 |
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158002.398768000 87.70401517864401
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| 1474 |
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158002.403507000 87.71309168707114
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| 1475 |
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158002.408084000 87.71309168707114
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| 1476 |
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158002.414886000 87.71309168707114
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| 1477 |
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158002.418089000 87.71309168707114
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| 1478 |
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158002.423135000 87.71309168707114
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| 1479 |
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158002.428286000 87.71309168707114
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| 1480 |
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158002.433080000 87.71309168707114
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| 1481 |
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158002.438087000 87.71309168707114
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| 1482 |
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158002.445012000 87.71309168707114
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| 1483 |
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158002.448775000 87.71309168707114
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| 1484 |
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158002.453638000 87.71309168707114
|
| 1485 |
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158002.458101000 87.71309168707114
|
| 1486 |
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158002.463075000 87.71309168707114
|
| 1487 |
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158002.468079000 87.71309168707114
|
| 1488 |
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158002.473897000 87.71309168707114
|
| 1489 |
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158002.478589000 87.71309168707114
|
| 1490 |
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158002.483111000 87.71309168707114
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| 1491 |
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158002.488310000 87.71309168707114
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| 1492 |
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158002.494684000 87.71309168707114
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| 1493 |
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158002.498126000 87.72216723757813
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| 1494 |
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158002.503077000 87.72216723757813
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| 1495 |
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158002.508259000 87.72216723757813
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| 1496 |
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158002.514403000 87.72216723757813
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| 1497 |
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158002.518182000 87.71309168707114
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| 1498 |
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158002.523074000 87.71309168707114
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| 1499 |
-
158002.529774000 87.71309168707114
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| 1500 |
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158002.533075000 87.71309168707114
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| 1501 |
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158002.538081000 87.71309168707114
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| 1502 |
-
158002.543079000 87.71309168707114
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| 1503 |
-
158002.549899000 87.71309168707114
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| 1504 |
-
158002.553079000 87.71309168707114
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| 1505 |
-
158002.558267000 87.71309168707114
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| 1506 |
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158002.563077000 87.71309168707114
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| 1507 |
-
158002.568133000 87.70401517864401
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| 1508 |
-
158002.574142000 87.71309168707114
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| 1509 |
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158002.578932000 87.71309168707114
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| 1510 |
-
158002.583108000 87.71309168707114
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| 1511 |
-
158002.588083000 87.71309168707114
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multi_sessions_20251119_181601/session_003/Merged_Trajectory/merge_stats.txt
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| 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: 755
|
| 19 |
-
均值融合 (都低速): 755
|
| 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 18:16:50
|
| 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_181601/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_181601/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_181601/session_003/RGB_Images/timestamps.csv
DELETED
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frame_index,timestamp
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|
multi_sessions_20251119_181601/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:09bc743fa8aa690eee15665e51929273dcc0223d5cbff5d11a120bbb1b995abb
|
| 3 |
-
size 3497572
|
|
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|
multi_sessions_20251119_181601/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/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: 157995.037457s
|
| 6 |
-
Vive 第一帧时间戳: 1763547400.917425s
|
| 7 |
-
计算的 offset: -1763389405.879968s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.879968
|
| 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 18:16:50
|
| 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_181601/session_003/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/session_004/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1549 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
158011.997942,87.975893266592
|
| 3 |
-
158012.002944,87.975893266592
|
| 4 |
-
158012.007952,87.975893266592
|
| 5 |
-
158012.01398,87.975893266592
|
| 6 |
-
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158019.287865,87.67677990699939
|
| 1461 |
-
158019.29356,87.67677990699939
|
| 1462 |
-
158019.297831,87.67677990699939
|
| 1463 |
-
158019.302832,87.66769956804939
|
| 1464 |
-
158019.307841,87.67677990699939
|
| 1465 |
-
158019.313168,87.67677990699939
|
| 1466 |
-
158019.317836,87.67677990699939
|
| 1467 |
-
158019.325033,87.67677990699939
|
| 1468 |
-
158019.328539,87.67677990699939
|
| 1469 |
-
158019.332861,87.67677990699939
|
| 1470 |
-
158019.337858,87.68585928849235
|
| 1471 |
-
158019.342833,87.67677990699939
|
| 1472 |
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158019.348004,87.67677990699939
|
| 1473 |
-
158019.352858,87.67677990699939
|
| 1474 |
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158019.357996,87.67677990699939
|
| 1475 |
-
158019.362841,87.67677990699939
|
| 1476 |
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158019.367843,87.67677990699939
|
| 1477 |
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158019.372888,87.67677990699939
|
| 1478 |
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158019.37795,87.67677990699939
|
| 1479 |
-
158019.382842,87.68585928849235
|
| 1480 |
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158019.387838,87.67677990699939
|
| 1481 |
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158019.393795,87.67677990699939
|
| 1482 |
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158019.397833,87.67677990699939
|
| 1483 |
-
158019.402833,87.67677990699939
|
| 1484 |
-
158019.407837,87.68585928849235
|
| 1485 |
-
158019.412842,87.68585928849235
|
| 1486 |
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158019.417867,87.68585928849235
|
| 1487 |
-
158019.422877,87.69493771241248
|
| 1488 |
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158019.427908,87.69493771241248
|
| 1489 |
-
158019.433998,87.68585928849235
|
| 1490 |
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158019.438058,87.68585928849235
|
| 1491 |
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158019.443241,87.68585928849235
|
| 1492 |
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158019.447877,87.68585928849235
|
| 1493 |
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158019.453346,87.68585928849235
|
| 1494 |
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158019.457948,87.68585928849235
|
| 1495 |
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158019.462863,87.68585928849235
|
| 1496 |
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158019.468155,87.68585928849235
|
| 1497 |
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158019.473055,87.67677990699939
|
| 1498 |
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158019.477849,87.68585928849235
|
| 1499 |
-
158019.482844,87.68585928849235
|
| 1500 |
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158019.487859,87.68585928849235
|
| 1501 |
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158019.493181,87.68585928849235
|
| 1502 |
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158019.497831,87.68585928849235
|
| 1503 |
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158019.502833,87.68585928849235
|
| 1504 |
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158019.507834,87.68585928849235
|
| 1505 |
-
158019.513165,87.68585928849235
|
| 1506 |
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158019.517832,87.68585928849235
|
| 1507 |
-
158019.525592,87.68585928849235
|
| 1508 |
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158019.528627,87.68585928849235
|
| 1509 |
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158019.532824,87.68585928849235
|
| 1510 |
-
158019.537941,87.69493771241248
|
| 1511 |
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158019.542859,87.69493771241248
|
| 1512 |
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158019.548002,87.69493771241248
|
| 1513 |
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158019.552843,87.69493771241248
|
| 1514 |
-
158019.558092,87.69493771241248
|
| 1515 |
-
158019.562826,87.68585928849235
|
| 1516 |
-
158019.567844,87.69493771241248
|
| 1517 |
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158019.572835,87.69493771241248
|
| 1518 |
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158019.578082,87.69493771241248
|
| 1519 |
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158019.582837,87.69493771241248
|
| 1520 |
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158019.587917,87.69493771241248
|
| 1521 |
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158019.59332,87.69493771241248
|
| 1522 |
-
158019.597824,87.69493771241248
|
| 1523 |
-
158019.602827,87.69493771241248
|
| 1524 |
-
158019.607845,87.70401517864401
|
| 1525 |
-
158019.614023,87.70401517864401
|
| 1526 |
-
158019.617846,87.70401517864401
|
| 1527 |
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158019.622982,87.70401517864401
|
| 1528 |
-
158019.628013,87.70401517864401
|
| 1529 |
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158019.633866,87.70401517864401
|
| 1530 |
-
158019.63879,87.70401517864401
|
| 1531 |
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158019.64336,87.70401517864401
|
| 1532 |
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158019.647864,87.70401517864401
|
| 1533 |
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158019.654144,87.70401517864401
|
| 1534 |
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158019.658014,87.70401517864401
|
| 1535 |
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158019.662825,87.70401517864401
|
| 1536 |
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158019.667829,87.70401517864401
|
| 1537 |
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158019.673007,87.70401517864401
|
| 1538 |
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158019.677982,87.70401517864401
|
| 1539 |
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158019.682842,87.70401517864401
|
| 1540 |
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158019.6879,87.70401517864401
|
| 1541 |
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158019.693369,87.70401517864401
|
| 1542 |
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158019.697828,87.70401517864401
|
| 1543 |
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158019.702827,87.71309168707114
|
| 1544 |
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158019.708113,87.71309168707114
|
| 1545 |
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158019.713254,87.71309168707114
|
| 1546 |
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158019.717829,87.71309168707114
|
| 1547 |
-
158019.722959,87.71309168707114
|
| 1548 |
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158019.728084,87.72216723757813
|
| 1549 |
-
158019.7336,87.71309168707114
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multi_sessions_20251119_181601/session_004/Clamp_Data/clamp_data_tum.txt
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158019.228221000 87.66769956804939
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158019.232827000 87.66769956804939
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158019.238110000 87.66769956804939
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| 1450 |
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158019.242835000 87.67677990699939
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| 1451 |
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158019.248152000 87.67677990699939
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| 1452 |
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158019.253493000 87.67677990699939
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| 1453 |
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158019.257955000 87.67677990699939
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158019.262838000 87.67677990699939
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158019.267952000 87.66769956804939
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158019.272952000 87.67677990699939
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158019.287865000 87.67677990699939
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158019.293560000 87.67677990699939
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158019.297831000 87.67677990699939
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158019.313168000 87.67677990699939
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158019.317836000 87.67677990699939
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158019.325033000 87.67677990699939
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158019.328539000 87.67677990699939
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158019.348004000 87.67677990699939
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158019.352858000 87.67677990699939
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158019.357996000 87.67677990699939
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158019.362841000 87.67677990699939
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158019.367843000 87.67677990699939
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158019.372888000 87.67677990699939
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158019.377950000 87.67677990699939
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158019.382842000 87.68585928849235
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158019.387838000 87.67677990699939
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158019.393795000 87.67677990699939
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| 1481 |
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158019.397833000 87.67677990699939
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| 1482 |
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158019.402833000 87.67677990699939
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158019.412842000 87.68585928849235
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158019.417867000 87.68585928849235
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158019.427908000 87.69493771241248
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158019.438058000 87.68585928849235
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158019.443241000 87.68585928849235
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| 1491 |
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158019.447877000 87.68585928849235
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158019.453346000 87.68585928849235
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| 1493 |
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158019.457948000 87.68585928849235
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158019.462863000 87.68585928849235
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158019.468155000 87.68585928849235
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158019.473055000 87.67677990699939
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158019.477849000 87.68585928849235
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158019.482844000 87.68585928849235
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158019.487859000 87.68585928849235
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158019.493181000 87.68585928849235
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158019.497831000 87.68585928849235
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158019.502833000 87.68585928849235
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158019.507834000 87.68585928849235
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158019.532824000 87.68585928849235
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158019.542859000 87.69493771241248
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158019.548002000 87.69493771241248
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158019.552843000 87.69493771241248
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158019.558092000 87.69493771241248
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158019.562826000 87.68585928849235
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158019.567844000 87.69493771241248
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158019.572835000 87.69493771241248
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158019.578082000 87.69493771241248
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158019.582837000 87.69493771241248
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158019.587917000 87.69493771241248
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| 1520 |
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158019.593320000 87.69493771241248
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158019.597824000 87.69493771241248
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158019.622982000 87.70401517864401
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158019.643360000 87.70401517864401
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158019.647864000 87.70401517864401
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158019.658014000 87.70401517864401
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158019.687900000 87.70401517864401
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158019.693369000 87.70401517864401
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158019.717829000 87.71309168707114
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158019.733600000 87.71309168707114
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multi_sessions_20251119_181601/session_004/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: 772
|
| 19 |
-
均值融合 (都低速): 772
|
| 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 18:17:07
|
| 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_181601/session_004/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_181601/session_004/Merged_Trajectory/merged_trajectory.txt
DELETED
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The diff for this file is too large to render.
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multi_sessions_20251119_181601/session_004/RGB_Images/timestamps.csv
DELETED
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frame_index,timestamp
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|
multi_sessions_20251119_181601/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:bb2310752396c6fbd3806f82a944707c58643ee576729d9ffe0e372650a9d2e5
|
| 3 |
-
size 3469562
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|
multi_sessions_20251119_181601/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/session_004/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: 158012.001466s
|
| 6 |
-
Vive 第一帧时间戳: 1763547417.887479s
|
| 7 |
-
计算的 offset: -1763389405.886013s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.886013
|
| 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 18:17:07
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
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| 18 |
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_181601/session_004/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_181601/session_005/Clamp_Data/clamp.csv
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timestamp,clamp
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-
158037.062583,87.27634088400632
|
| 1387 |
-
158037.067806,87.28546228389118
|
| 1388 |
-
158037.073052,87.28546228389118
|
| 1389 |
-
158037.07764,87.27634088400632
|
| 1390 |
-
158037.082584,87.28546228389118
|
| 1391 |
-
158037.090079,87.27634088400632
|
| 1392 |
-
158037.093261,87.27634088400632
|
| 1393 |
-
158037.097905,87.27634088400632
|
| 1394 |
-
158037.10315,87.27634088400632
|
| 1395 |
-
158037.109187,87.27634088400632
|
| 1396 |
-
158037.112597,87.27634088400632
|
| 1397 |
-
158037.117998,87.28546228389118
|
| 1398 |
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158037.12318,87.28546228389118
|
| 1399 |
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158037.127589,87.28546228389118
|
| 1400 |
-
158037.13308,87.28546228389118
|
| 1401 |
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158037.137694,87.28546228389118
|
| 1402 |
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158037.142589,87.28546228389118
|
| 1403 |
-
158037.147591,87.28546228389118
|
| 1404 |
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158037.155428,87.28546228389118
|
| 1405 |
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158037.158264,87.28546228389118
|
| 1406 |
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158037.162585,87.28546228389118
|
| 1407 |
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158037.167663,87.28546228389118
|
| 1408 |
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158037.173381,87.28546228389118
|
| 1409 |
-
158037.178111,87.28546228389118
|
| 1410 |
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158037.182639,87.28546228389118
|
| 1411 |
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158037.190202,87.27634088400632
|
| 1412 |
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158037.193261,87.27634088400632
|
| 1413 |
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158037.198286,87.27634088400632
|
| 1414 |
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158037.202589,87.27634088400632
|
| 1415 |
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158037.207918,87.28546228389118
|
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158037.212592,87.28546228389118
|
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158037.217593,87.28546228389118
|
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158037.22307,87.28546228389118
|
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158037.227588,87.28546228389118
|
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158037.23366,87.28546228389118
|
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158037.237746,87.28546228389118
|
| 1422 |
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158037.242584,87.28546228389118
|
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158037.247839,87.28546228389118
|
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158037.255012,87.28546228389118
|
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158037.25827,87.28546228389118
|
| 1426 |
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158037.262582,87.28546228389118
|
| 1427 |
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158037.267649,87.28546228389118
|
| 1428 |
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158037.273044,87.28546228389118
|
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158037.277654,87.28546228389118
|
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158037.282603,87.28546228389118
|
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158037.288928,87.28546228389118
|
| 1432 |
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158037.292626,87.28546228389118
|
| 1433 |
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158037.297668,87.28546228389118
|
| 1434 |
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158037.305355,87.29458273130982
|
| 1435 |
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158037.308322,87.29458273130982
|
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158037.31311,87.29458273130982
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158037.317696,87.29458273130982
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158037.323193,87.29458273130982
|
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158037.327586,87.28546228389118
|
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158037.332895,87.28546228389118
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158037.342584,87.28546228389118
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158037.347594,87.28546228389118
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158037.355432,87.28546228389118
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158037.358266,87.28546228389118
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158037.362633,87.29458273130982
|
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158037.367613,87.29458273130982
|
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158037.373461,87.29458273130982
|
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158037.378182,87.29458273130982
|
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158037.382587,87.29458273130982
|
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158037.389635,87.29458273130982
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158037.39326,87.29458273130982
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158037.398216,87.29458273130982
|
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158037.402605,87.29458273130982
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158037.407886,87.29458273130982
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158037.413496,87.29458273130982
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158037.417582,87.29458273130982
|
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158037.422743,87.29458273130982
|
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158037.427644,87.29458273130982
|
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158037.432966,87.29458273130982
|
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158037.439522,87.29458273130982
|
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158037.443262,87.30370222614593
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158037.447623,87.29458273130982
|
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158037.45522,87.29458273130982
|
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158037.458267,87.29458273130982
|
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158037.462581,87.29458273130982
|
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158037.467682,87.29458273130982
|
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158037.474208,87.29458273130982
|
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158037.47759,87.29458273130982
|
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158037.48262,87.29458273130982
|
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158037.490346,87.29458273130982
|
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158037.49327,87.30370222614593
|
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158037.497589,87.30370222614593
|
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158037.502597,87.30370222614593
|
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158037.507903,87.29458273130982
|
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158037.513101,87.29458273130982
|
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158037.517656,87.30370222614593
|
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158037.522657,87.30370222614593
|
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158037.527587,87.30370222614593
|
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158037.533096,87.29458273130982
|
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158037.53955,87.30370222614593
|
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158037.543262,87.30370222614593
|
| 1483 |
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158037.547738,87.30370222614593
|
| 1484 |
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158037.555588,87.30370222614593
|
| 1485 |
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158037.559262,87.30370222614593
|
| 1486 |
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158037.562584,87.30370222614593
|
| 1487 |
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158037.567653,87.30370222614593
|
| 1488 |
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158037.573436,87.30370222614593
|
| 1489 |
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158037.577617,87.30370222614593
|
| 1490 |
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158037.582583,87.30370222614593
|
| 1491 |
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158037.590022,87.31282076828322
|
| 1492 |
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158037.593264,87.31282076828322
|
| 1493 |
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158037.597929,87.31282076828322
|
| 1494 |
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158037.602618,87.31282076828322
|
| 1495 |
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158037.607794,87.30370222614593
|
| 1496 |
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158037.612866,87.30370222614593
|
| 1497 |
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158037.617587,87.30370222614593
|
| 1498 |
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158037.622584,87.30370222614593
|
| 1499 |
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158037.627661,87.30370222614593
|
| 1500 |
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158037.633582,87.30370222614593
|
| 1501 |
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158037.638356,87.30370222614593
|
| 1502 |
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158037.642585,87.30370222614593
|
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158037.647594,87.30370222614593
|
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158037.656129,87.30370222614593
|
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158037.659261,87.30370222614593
|
| 1506 |
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158037.6626,87.30370222614593
|
| 1507 |
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158037.667594,87.30370222614593
|
| 1508 |
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158037.673315,87.31282076828322
|
| 1509 |
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158037.677583,87.30370222614593
|
| 1510 |
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158037.682584,87.30370222614593
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158037.69037,87.30370222614593
|
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158037.693255,87.30370222614593
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158037.697584,87.30370222614593
|
| 1514 |
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158037.702629,87.31282076828322
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158037.708717,87.31282076828322
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158037.712586,87.31282076828322
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158037.717647,87.31282076828322
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158037.722856,87.31282076828322
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158037.727582,87.31282076828322
|
| 1520 |
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158037.732645,87.31282076828322
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158037.739236,87.31282076828322
|
| 1522 |
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158037.742579,87.31282076828322
|
| 1523 |
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158037.747618,87.31282076828322
|
| 1524 |
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158037.755269,87.32193835760535
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| 1525 |
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158037.758259,87.32193835760535
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multi_sessions_20251119_181601/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1524 +0,0 @@
|
|
| 1 |
-
158030.142766000 87.84912429826412
|
| 2 |
-
158030.147644000 87.84912429826412
|
| 3 |
-
158030.153600000 87.84006217078714
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| 4 |
-
158030.157690000 87.84006217078714
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| 5 |
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158030.162630000 87.84912429826412
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| 6 |
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158030.167658000 87.84912429826412
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| 7 |
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158030.173090000 87.84912429826412
|
| 8 |
-
158030.177674000 87.84912429826412
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| 9 |
-
158030.182638000 87.84912429826412
|
| 10 |
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158030.187712000 87.84912429826412
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| 11 |
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158030.193599000 87.84912429826412
|
| 12 |
-
158030.197630000 87.84912429826412
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| 13 |
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158030.202632000 87.84912429826412
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| 14 |
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158030.208284000 87.84912429826412
|
| 15 |
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158030.212634000 87.84912429826412
|
| 16 |
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158030.217694000 87.84912429826412
|
| 17 |
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158030.223253000 87.84006217078714
|
| 18 |
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158030.227663000 87.84006217078714
|
| 19 |
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158030.232906000 87.84006217078714
|
| 20 |
-
158030.238332000 87.84912429826412
|
| 21 |
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158030.242660000 87.84912429826412
|
| 22 |
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158030.247647000 87.84912429826412
|
| 23 |
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158030.254941000 87.84006217078714
|
| 24 |
-
158030.258710000 87.84006217078714
|
| 25 |
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158030.262630000 87.84006217078714
|
| 26 |
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158030.267637000 87.84006217078714
|
| 27 |
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158030.274291000 87.84006217078714
|
| 28 |
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158030.277632000 87.84006217078714
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| 29 |
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158030.282701000 87.84006217078714
|
| 30 |
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158030.289626000 87.84006217078714
|
| 31 |
-
158030.293444000 87.84006217078714
|
| 32 |
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158030.297629000 87.84912429826412
|
| 33 |
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158030.302633000 87.84912429826412
|
| 34 |
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158030.308571000 87.84912429826412
|
| 35 |
-
158030.312635000 87.84912429826412
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| 36 |
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158030.317630000 87.84912429826412
|
| 37 |
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158030.323097000 87.84912429826412
|
| 38 |
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158030.327633000 87.84912429826412
|
| 39 |
-
158030.332632000 87.84912429826412
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| 40 |
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158030.339784000 87.84912429826412
|
| 41 |
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158030.343315000 87.84912429826412
|
| 42 |
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158030.347738000 87.84912429826412
|
| 43 |
-
158030.353033000 87.84912429826412
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| 44 |
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158030.357703000 87.84006217078714
|
| 45 |
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158030.362619000 87.84912429826412
|
| 46 |
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158030.367624000 87.84912429826412
|
| 47 |
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158030.372750000 87.84912429826412
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| 48 |
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158030.377676000 87.84006217078714
|
| 49 |
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158030.382627000 87.84912429826412
|
| 50 |
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158030.388460000 87.84912429826412
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| 51 |
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158030.393236000 87.84912429826412
|
| 52 |
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158030.397617000 87.84912429826412
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| 53 |
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158030.402631000 87.84912429826412
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| 54 |
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158030.409325000 87.84912429826412
|
| 55 |
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158030.412624000 87.84912429826412
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| 56 |
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158030.417623000 87.84912429826412
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| 57 |
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158030.423375000 87.84912429826412
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| 58 |
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158030.427652000 87.84006217078714
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| 59 |
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158030.433032000 87.84912429826412
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| 60 |
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158030.438348000 87.84912429826412
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158030.442764000 87.84912429826412
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158030.447643000 87.84912429826412
|
| 63 |
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158030.455005000 87.84006217078714
|
| 64 |
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158030.458330000 87.84006217078714
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158030.462661000 87.84912429826412
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158030.467627000 87.84912429826412
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| 67 |
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158030.474763000 87.84912429826412
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| 68 |
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158030.478354000 87.84912429826412
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| 69 |
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158030.482633000 87.84006217078714
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| 70 |
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158030.487688000 87.84006217078714
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| 71 |
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158030.493522000 87.84006217078714
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| 72 |
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158030.497617000 87.84006217078714
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| 73 |
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158030.502790000 87.84912429826412
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158030.508891000 87.84006217078714
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| 75 |
-
158030.512673000 87.84006217078714
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| 76 |
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158030.517619000 87.84912429826412
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| 77 |
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158030.523254000 87.84912429826412
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158030.527624000 87.84912429826412
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158030.532852000 87.84912429826412
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158030.538257000 87.84912429826412
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| 81 |
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158030.542609000 87.84912429826412
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158030.547618000 87.84912429826412
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158030.552922000 87.84912429826412
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158030.557612000 87.84912429826412
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158030.562609000 87.84912429826412
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158030.567702000 87.84912429826412
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158030.572841000 87.84912429826412
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158030.577753000 87.84912429826412
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| 89 |
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158030.582615000 87.84912429826412
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| 90 |
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158030.590485000 87.84006217078714
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158030.594361000 87.84912429826412
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158030.597608000 87.84912429826412
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158030.602631000 87.84912429826412
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158030.608315000 87.84912429826412
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158030.617662000 87.84912429826412
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158030.623114000 87.84912429826412
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158030.627658000 87.84912429826412
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158030.632956000 87.84912429826412
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158030.638052000 87.84912429826412
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158030.642746000 87.84912429826412
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158030.647621000 87.84006217078714
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158030.654168000 87.84912429826412
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158030.657638000 87.84006217078714
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158030.662664000 87.84912429826412
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158030.674389000 87.84912429826412
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158030.677612000 87.84912429826412
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158030.693060000 87.84912429826412
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158030.708189000 87.84912429826412
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158030.723179000 87.84912429826412
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158030.727615000 87.84912429826412
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158030.733223000 87.84912429826412
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158030.747630000 87.84912429826412
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| 125 |
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158030.762611000 87.84912429826412
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158030.802620000 87.84912429826412
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158030.808286000 87.84912429826412
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158030.812617000 87.84912429826412
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158030.823246000 87.84006217078714
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158030.833008000 87.84006217078714
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158030.847625000 87.84912429826412
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158030.882621000 87.83099908377069
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158030.887638000 87.84006217078714
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158030.893179000 87.84912429826412
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158030.897613000 87.85818546608598
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158030.908987000 87.80380406664018
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158030.912647000 87.78566925964175
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158030.917616000 87.78566925964175
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158030.923174000 87.80380406664018
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158030.947700000 87.80380406664018
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158031.004698000 87.82193503733029
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158031.077604000 87.83099908377069
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158031.193169000 87.87630492230221
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158031.204693000 87.87630492230221
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158031.213380000 87.87630492230221
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158036.862582000 87.27634088400632
|
| 1346 |
-
158036.867894000 87.26721853177159
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| 1347 |
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158036.872841000 87.26721853177159
|
| 1348 |
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158036.877606000 87.26721853177159
|
| 1349 |
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158036.882585000 87.26721853177159
|
| 1350 |
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158036.890020000 87.26721853177159
|
| 1351 |
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158036.893257000 87.26721853177159
|
| 1352 |
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158036.897828000 87.26721853177159
|
| 1353 |
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158036.905732000 87.26721853177159
|
| 1354 |
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158036.909272000 87.26721853177159
|
| 1355 |
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158036.912625000 87.26721853177159
|
| 1356 |
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158036.917940000 87.27634088400632
|
| 1357 |
-
158036.923145000 87.26721853177159
|
| 1358 |
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158036.927585000 87.26721853177159
|
| 1359 |
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158036.932822000 87.26721853177159
|
| 1360 |
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158036.937628000 87.27634088400632
|
| 1361 |
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158036.942585000 87.26721853177159
|
| 1362 |
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158036.947604000 87.27634088400632
|
| 1363 |
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158036.955387000 87.27634088400632
|
| 1364 |
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158036.958322000 87.27634088400632
|
| 1365 |
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158036.963204000 87.27634088400632
|
| 1366 |
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158036.967590000 87.27634088400632
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| 1367 |
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158036.973250000 87.27634088400632
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| 1368 |
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158036.977585000 87.27634088400632
|
| 1369 |
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158036.982620000 87.27634088400632
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| 1370 |
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158036.989307000 87.27634088400632
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| 1371 |
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158036.992640000 87.27634088400632
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| 1372 |
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158036.998781000 87.27634088400632
|
| 1373 |
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158037.002606000 87.27634088400632
|
| 1374 |
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158037.007651000 87.26721853177159
|
| 1375 |
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158037.012590000 87.26721853177159
|
| 1376 |
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158037.017958000 87.27634088400632
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| 1377 |
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158037.022977000 87.27634088400632
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| 1378 |
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158037.027589000 87.27634088400632
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| 1379 |
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158037.032772000 87.28546228389118
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| 1380 |
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158037.037868000 87.28546228389118
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| 1381 |
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158037.042584000 87.28546228389118
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158037.047676000 87.27634088400632
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158037.053076000 87.27634088400632
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158037.057627000 87.27634088400632
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158037.062583000 87.27634088400632
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158037.067806000 87.28546228389118
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158037.073052000 87.28546228389118
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158037.077640000 87.27634088400632
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158037.082584000 87.28546228389118
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| 1390 |
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158037.090079000 87.27634088400632
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158037.093261000 87.27634088400632
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158037.097905000 87.27634088400632
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158037.103150000 87.27634088400632
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158037.109187000 87.27634088400632
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158037.112597000 87.27634088400632
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158037.117998000 87.28546228389118
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158037.123180000 87.28546228389118
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158037.127589000 87.28546228389118
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158037.133080000 87.28546228389118
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158037.137694000 87.28546228389118
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158037.142589000 87.28546228389118
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158037.147591000 87.28546228389118
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158037.155428000 87.28546228389118
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158037.158264000 87.28546228389118
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158037.162585000 87.28546228389118
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158037.167663000 87.28546228389118
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158037.173381000 87.28546228389118
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158037.178111000 87.28546228389118
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158037.182639000 87.28546228389118
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158037.190202000 87.27634088400632
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158037.193261000 87.27634088400632
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158037.198286000 87.27634088400632
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158037.202589000 87.27634088400632
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158037.207918000 87.28546228389118
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158037.212592000 87.28546228389118
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158037.217593000 87.28546228389118
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158037.223070000 87.28546228389118
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158037.233660000 87.28546228389118
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158037.255012000 87.28546228389118
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158037.258270000 87.28546228389118
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158037.277654000 87.28546228389118
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158037.282603000 87.28546228389118
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158037.305355000 87.29458273130982
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158037.308322000 87.29458273130982
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158037.313110000 87.29458273130982
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158037.378182000 87.29458273130982
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158037.393260000 87.29458273130982
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158037.402605000 87.29458273130982
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158037.407886000 87.29458273130982
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158037.427644000 87.29458273130982
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158037.443262000 87.30370222614593
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158037.455220000 87.29458273130982
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158037.467682000 87.29458273130982
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158037.474208000 87.29458273130982
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158037.477590000 87.29458273130982
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158037.482620000 87.29458273130982
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158037.490346000 87.29458273130982
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158037.493270000 87.30370222614593
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158037.497589000 87.30370222614593
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158037.502597000 87.30370222614593
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158037.507903000 87.29458273130982
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158037.513101000 87.29458273130982
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158037.517656000 87.30370222614593
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158037.522657000 87.30370222614593
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158037.527587000 87.30370222614593
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158037.533096000 87.29458273130982
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158037.539550000 87.30370222614593
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158037.543262000 87.30370222614593
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158037.547738000 87.30370222614593
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158037.555588000 87.30370222614593
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158037.559262000 87.30370222614593
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158037.562584000 87.30370222614593
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158037.567653000 87.30370222614593
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158037.573436000 87.30370222614593
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158037.577617000 87.30370222614593
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158037.582583000 87.30370222614593
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| 1490 |
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158037.590022000 87.31282076828322
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158037.593264000 87.31282076828322
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158037.597929000 87.31282076828322
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158037.602618000 87.31282076828322
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158037.607794000 87.30370222614593
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158037.612866000 87.30370222614593
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158037.617587000 87.30370222614593
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158037.622584000 87.30370222614593
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| 1498 |
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158037.627661000 87.30370222614593
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| 1499 |
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158037.633582000 87.30370222614593
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| 1500 |
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158037.638356000 87.30370222614593
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| 1501 |
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158037.642585000 87.30370222614593
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| 1502 |
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158037.647594000 87.30370222614593
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| 1503 |
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158037.656129000 87.30370222614593
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| 1504 |
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158037.659261000 87.30370222614593
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| 1505 |
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158037.662600000 87.30370222614593
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| 1506 |
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158037.667594000 87.30370222614593
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| 1507 |
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158037.673315000 87.31282076828322
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| 1508 |
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158037.677583000 87.30370222614593
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| 1509 |
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158037.682584000 87.30370222614593
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| 1510 |
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158037.690370000 87.30370222614593
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| 1511 |
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158037.693255000 87.30370222614593
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158037.697584000 87.30370222614593
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| 1513 |
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158037.702629000 87.31282076828322
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158037.708717000 87.31282076828322
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158037.712586000 87.31282076828322
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158037.717647000 87.31282076828322
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158037.722856000 87.31282076828322
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158037.727582000 87.31282076828322
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| 1519 |
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158037.732645000 87.31282076828322
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| 1520 |
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158037.739236000 87.31282076828322
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| 1521 |
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158037.742579000 87.31282076828322
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| 1522 |
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158037.747618000 87.31282076828322
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| 1523 |
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158037.755269000 87.32193835760535
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| 1524 |
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158037.758259000 87.32193835760535
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multi_sessions_20251119_181601/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: 761
|
| 19 |
-
均值融合 (都低速): 761
|
| 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 18:17:25
|
| 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_181601/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,458 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158030.141459
|
| 3 |
-
1,158030.15786
|
| 4 |
-
2,158030.175589
|
| 5 |
-
3,158030.193684
|
| 6 |
-
4,158030.209129
|
| 7 |
-
5,158030.222589
|
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6,158030.242923
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7,158030.258233
|
| 10 |
-
8,158030.275621
|
| 11 |
-
9,158030.291911
|
| 12 |
-
10,158030.308967
|
| 13 |
-
11,158030.322626
|
| 14 |
-
12,158030.341511
|
| 15 |
-
13,158030.357862
|
| 16 |
-
14,158030.375677
|
| 17 |
-
15,158030.393564
|
| 18 |
-
16,158030.408596
|
| 19 |
-
17,158030.422666
|
| 20 |
-
18,158030.441263
|
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-
19,158030.456602
|
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-
20,158030.477385
|
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21,158030.492934
|
| 24 |
-
22,158030.509741
|
| 25 |
-
23,158030.522794
|
| 26 |
-
24,158030.541203
|
| 27 |
-
25,158030.557829
|
| 28 |
-
26,158030.576824
|
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-
27,158030.590563
|
| 30 |
-
28,158030.60836
|
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29,158030.622527
|
| 32 |
-
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|
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-
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|
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-
32,158030.675604
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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-
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|
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43,158030.857824
|
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-
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|
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45,158030.891892
|
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-
46,158030.908172
|
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-
47,158030.924323
|
| 50 |
-
48,158030.941605
|
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-
49,158030.956384
|
| 52 |
-
50,158030.976964
|
| 53 |
-
51,158030.990548
|
| 54 |
-
52,158031.008633
|
| 55 |
-
53,158031.0237
|
| 56 |
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54,158031.040998
|
| 57 |
-
55,158031.057733
|
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-
56,158031.075579
|
| 59 |
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57,158031.090738
|
| 60 |
-
58,158031.108091
|
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59,158031.122511
|
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60,158031.143036
|
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61,158031.158126
|
| 64 |
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62,158031.176689
|
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63,158031.190547
|
| 66 |
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64,158031.208388
|
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65,158031.223791
|
| 68 |
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66,158031.240944
|
| 69 |
-
67,158031.257685
|
| 70 |
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68,158031.275731
|
| 71 |
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69,158031.290078
|
| 72 |
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70,158031.308844
|
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71,158031.322271
|
| 74 |
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72,158031.3414
|
| 75 |
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73,158031.356212
|
| 76 |
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74,158031.375222
|
| 77 |
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75,158031.390557
|
| 78 |
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76,158031.407862
|
| 79 |
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77,158031.422734
|
| 80 |
-
78,158031.441354
|
| 81 |
-
79,158031.45773
|
| 82 |
-
80,158031.475352
|
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81,158031.490044
|
| 84 |
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82,158031.510242
|
| 85 |
-
83,158031.522961
|
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84,158031.541678
|
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85,158031.556184
|
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86,158031.575266
|
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87,158031.590648
|
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88,158031.609421
|
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89,158031.624473
|
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90,158031.641253
|
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91,158031.655886
|
| 94 |
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92,158031.675274
|
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93,158031.68988
|
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94,158031.708754
|
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95,158031.722446
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96,158031.741672
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97,158031.756355
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|
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99,158031.790519
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100,158031.808804
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|
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|
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|
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|
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|
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113,158032.022796
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|
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116,158032.076681
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118,158032.107986
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119,158032.123488
|
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121,158032.156247
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123,158032.1899
|
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124,158032.206937
|
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|
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126,158032.241362
|
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127,158032.255956
|
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128,158032.274708
|
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129,158032.290298
|
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130,158032.308668
|
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131,158032.32251
|
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132,158032.340285
|
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133,158032.356358
|
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134,158032.377738
|
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135,158032.390405
|
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136,158032.410183
|
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137,158032.422881
|
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|
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139,158032.456161
|
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|
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|
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|
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|
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144,158032.543027
|
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|
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|
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147,158032.589756
|
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|
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149,158032.62236
|
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|
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|
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|
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|
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|
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|
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|
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181,158033.155903
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183,158033.189553
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|
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|
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186,158033.242275
|
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187,158033.256431
|
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188,158033.275197
|
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|
multi_sessions_20251119_181601/session_005/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:8673c4b2121852363514798328c8526a7c9ca11463a8c77044d527f5426baaf8
|
| 3 |
-
size 3452731
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multi_sessions_20251119_181601/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181601/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: 158030.143458s
|
| 6 |
-
Vive 第一帧时间戳: 1763547436.027381s
|
| 7 |
-
计算的 offset: -1763389405.883923s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.883923
|
| 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 18:17:25
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
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