Delete multi_sessions_20251119_183352
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- multi_sessions_20251119_183352/collection_summary.txt +0 -93
- multi_sessions_20251119_183352/session_001/Clamp_Data/clamp.csv +0 -1550
- multi_sessions_20251119_183352/session_001/Clamp_Data/clamp_data_tum.txt +0 -1549
- multi_sessions_20251119_183352/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183352/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183352/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183352/session_001/RGB_Images/timestamps.csv +0 -466
- multi_sessions_20251119_183352/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183352/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183352/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183352/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183352/session_002/Clamp_Data/clamp.csv +0 -1428
- multi_sessions_20251119_183352/session_002/Clamp_Data/clamp_data_tum.txt +0 -1427
- multi_sessions_20251119_183352/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183352/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183352/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183352/session_002/RGB_Images/timestamps.csv +0 -430
- multi_sessions_20251119_183352/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183352/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183352/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183352/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183352/session_003/Clamp_Data/clamp.csv +0 -1628
- multi_sessions_20251119_183352/session_003/Clamp_Data/clamp_data_tum.txt +0 -1627
- multi_sessions_20251119_183352/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183352/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183352/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183352/session_003/RGB_Images/timestamps.csv +0 -489
- multi_sessions_20251119_183352/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183352/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183352/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183352/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183352/session_004/Clamp_Data/clamp.csv +0 -1414
- multi_sessions_20251119_183352/session_004/Clamp_Data/clamp_data_tum.txt +0 -1413
- multi_sessions_20251119_183352/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183352/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183352/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183352/session_004/RGB_Images/timestamps.csv +0 -426
- multi_sessions_20251119_183352/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183352/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183352/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183352/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183352/session_005/Clamp_Data/clamp.csv +0 -1836
- multi_sessions_20251119_183352/session_005/Clamp_Data/clamp_data_tum.txt +0 -1835
- multi_sessions_20251119_183352/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183352/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183352/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183352/session_005/RGB_Images/timestamps.csv +0 -552
- multi_sessions_20251119_183352/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183352/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183352/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_183352/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 18:33:53 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_183352
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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 18:33:53 CST
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输出目录: ./multi_sessions_20251119_183352/session_001
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结束时间: 2025年 11月 19日 星期三 18:34:11 CST
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持续时间: 18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_183352/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 18:34:16 CST
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输出目录: ./multi_sessions_20251119_183352/session_002
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结束时间: 2025年 11月 19日 星期三 18:34:29 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_183352/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 18:34:33 CST
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输出目录: ./multi_sessions_20251119_183352/session_003
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结束时间: 2025年 11月 19日 星期三 18:34:47 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_183352/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 18:34:52 CST
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输出目录: ./multi_sessions_20251119_183352/session_004
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结束时间: 2025年 11月 19日 星期三 18:35:05 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_183352/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 18:35:09 CST
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输出目录: ./multi_sessions_20251119_183352/session_005
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结束时间: 2025年 11月 19日 星期三 18:35:25 CST
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持续时间: 16秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_183352/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 18:35:25 CST
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成功会话数: 5
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失败会话数: 0
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总计划会话数: 5
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实际完成会话数: 5
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成功率: 100%
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数据目录结构:
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./multi_sessions_20251119_183352/
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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_183352/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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159040.141151,87.476791482733
|
| 1513 |
-
159040.145964,87.46769010904983
|
| 1514 |
-
159040.150788,87.46769010904983
|
| 1515 |
-
159040.157142,87.46769010904983
|
| 1516 |
-
159040.160816,87.46769010904983
|
| 1517 |
-
159040.165788,87.46769010904983
|
| 1518 |
-
159040.171029,87.46769010904983
|
| 1519 |
-
159040.175805,87.46769010904983
|
| 1520 |
-
159040.180794,87.46769010904983
|
| 1521 |
-
159040.185847,87.46769010904983
|
| 1522 |
-
159040.19089,87.46769010904983
|
| 1523 |
-
159040.195793,87.476791482733
|
| 1524 |
-
159040.201346,87.476791482733
|
| 1525 |
-
159040.205842,87.476791482733
|
| 1526 |
-
159040.21079,87.476791482733
|
| 1527 |
-
159040.215787,87.476791482733
|
| 1528 |
-
159040.224093,87.48589190150977
|
| 1529 |
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159040.227568,87.48589190150977
|
| 1530 |
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159040.231515,87.48589190150977
|
| 1531 |
-
159040.236361,87.48589190150977
|
| 1532 |
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159040.242687,87.48589190150977
|
| 1533 |
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159040.246156,87.48589190150977
|
| 1534 |
-
159040.250789,87.476791482733
|
| 1535 |
-
159040.256196,87.476791482733
|
| 1536 |
-
159040.260805,87.476791482733
|
| 1537 |
-
159040.265788,87.48589190150977
|
| 1538 |
-
159040.27091,87.476791482733
|
| 1539 |
-
159040.275987,87.476791482733
|
| 1540 |
-
159040.280832,87.476791482733
|
| 1541 |
-
159040.289858,87.476791482733
|
| 1542 |
-
159040.293558,87.476791482733
|
| 1543 |
-
159040.296553,87.476791482733
|
| 1544 |
-
159040.301202,87.46769010904983
|
| 1545 |
-
159040.306041,87.46769010904983
|
| 1546 |
-
159040.310782,87.46769010904983
|
| 1547 |
-
159040.315779,87.476791482733
|
| 1548 |
-
159040.324219,87.476791482733
|
| 1549 |
-
159040.327611,87.476791482733
|
| 1550 |
-
159040.331455,87.476791482733
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|
multi_sessions_20251119_183352/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1549 +0,0 @@
|
|
| 1 |
-
159032.591505000 87.69493771241248
|
| 2 |
-
159032.596358000 87.69493771241248
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| 3 |
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159032.601380000 87.69493771241248
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| 4 |
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159032.606622000 87.68585928849235
|
| 5 |
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159032.613128000 87.69493771241248
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| 6 |
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159032.616712000 87.68585928849235
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| 7 |
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159032.621429000 87.68585928849235
|
| 8 |
-
159032.626648000 87.69493771241248
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| 9 |
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159032.631368000 87.69493771241248
|
| 10 |
-
159032.636354000 87.69493771241248
|
| 11 |
-
159032.641429000 87.69493771241248
|
| 12 |
-
159032.646355000 87.69493771241248
|
| 13 |
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159032.651730000 87.69493771241248
|
| 14 |
-
159032.656590000 87.69493771241248
|
| 15 |
-
159032.661368000 87.69493771241248
|
| 16 |
-
159032.666355000 87.69493771241248
|
| 17 |
-
159032.671360000 87.69493771241248
|
| 18 |
-
159032.676528000 87.69493771241248
|
| 19 |
-
159032.681403000 87.69493771241248
|
| 20 |
-
159032.687825000 87.69493771241248
|
| 21 |
-
159032.691415000 87.69493771241248
|
| 22 |
-
159032.696363000 87.69493771241248
|
| 23 |
-
159032.701442000 87.69493771241248
|
| 24 |
-
159032.706952000 87.69493771241248
|
| 25 |
-
159032.711443000 87.69493771241248
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| 26 |
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159032.716372000 87.69493771241248
|
| 27 |
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159032.722202000 87.69493771241248
|
| 28 |
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159032.727015000 87.69493771241248
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| 29 |
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159032.731349000 87.69493771241248
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| 30 |
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159032.736341000 87.69493771241248
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| 31 |
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159032.741446000 87.69493771241248
|
| 32 |
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159032.746344000 87.69493771241248
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| 33 |
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159032.751353000 87.69493771241248
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| 34 |
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159032.756820000 87.69493771241248
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| 35 |
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159032.761588000 87.69493771241248
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| 36 |
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159032.766345000 87.70401517864401
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| 37 |
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159032.771346000 87.70401517864401
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| 38 |
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159032.776623000 87.70401517864401
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| 39 |
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159032.782174000 87.69493771241248
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| 41 |
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159032.792071000 87.69493771241248
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| 42 |
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159032.796417000 87.69493771241248
|
| 43 |
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159038.281030000 83.34358310181233
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159039.810864000 87.44948449742859
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159039.823380000 87.44948449742859
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159039.826601000 87.44948449742859
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159039.835830000 87.44948449742859
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159039.841870000 87.44948449742859
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159039.856992000 87.45858778057632
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159040.105873000 87.46769010904983
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159040.141151000 87.476791482733
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159040.157142000 87.46769010904983
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159040.190890000 87.46769010904983
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159040.195793000 87.476791482733
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159040.201346000 87.476791482733
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159040.205842000 87.476791482733
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159040.210790000 87.476791482733
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159040.215787000 87.476791482733
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159040.224093000 87.48589190150977
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159040.227568000 87.48589190150977
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159040.231515000 87.48589190150977
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159040.236361000 87.48589190150977
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159040.242687000 87.48589190150977
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159040.246156000 87.48589190150977
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159040.250789000 87.476791482733
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159040.256196000 87.476791482733
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159040.260805000 87.476791482733
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159040.265788000 87.48589190150977
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159040.270910000 87.476791482733
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159040.275987000 87.476791482733
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159040.280832000 87.476791482733
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159040.301202000 87.46769010904983
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159040.331455000 87.476791482733
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multi_sessions_20251119_183352/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: 774
|
| 19 |
-
均值融合 (都低速): 774
|
| 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 18:34:07
|
| 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_183352/session_001/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_183352/session_001/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_183352/session_001/RGB_Images/timestamps.csv
DELETED
|
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frame_index,timestamp
|
| 2 |
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0,159032.576935
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multi_sessions_20251119_183352/session_001/RGB_Images/video.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:67ef54078926248bdaf489f64cab2f5fde28c407e0ed77fdf6acfbc780532104
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size 3676762
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multi_sessions_20251119_183352/session_001/SLAM_Poses/slam_raw.txt
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multi_sessions_20251119_183352/session_001/Vive_Poses/offset_info.txt
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Vive 时间戳对齐信息
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============================================================
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对齐参数:
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| 5 |
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SLAM 第一帧时间戳: 159032.589988s
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| 6 |
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Vive 第一帧时间戳: 1763548438.472510s
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| 7 |
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计算的 offset: -1763389405.882522s
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| 8 |
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对齐公式: vive_aligned = vive_original + -1763389405.882522
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| 10 |
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说明:
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| 11 |
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- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
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- 时间戳已与 SLAM 数据对齐
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| 13 |
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- 坐标已转换到 Gripper 坐标系
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| 14 |
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生成时间: 2025-11-19 18:34:07
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设备标签: main
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XV 序列号: 250801DR48FP25002087
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_183352/session_001/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_183352/session_002/Clamp_Data/clamp.csv
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| 1403 |
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| 1404 |
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| 1405 |
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| 1406 |
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| 1407 |
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| 1408 |
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| 1409 |
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| 1410 |
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| 1411 |
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| 1412 |
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| 1413 |
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| 1414 |
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| 1415 |
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| 1416 |
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| 1417 |
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| 1418 |
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| 1419 |
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| 1420 |
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| 1421 |
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| 1422 |
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| 1423 |
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| 1424 |
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| 1425 |
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| 1426 |
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| 1427 |
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| 1428 |
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|
multi_sessions_20251119_183352/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1427 +0,0 @@
|
|
| 1 |
-
159051.690106000 87.58593345104586
|
| 2 |
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159051.695385000 87.59502240189622
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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 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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159051.760073000 87.58593345104586
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| 16 |
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159051.765001000 87.58593345104586
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| 17 |
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159051.770041000 87.59502240189622
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| 18 |
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159051.775033000 87.59502240189622
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| 19 |
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159051.780962000 87.58593345104586
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| 20 |
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159051.785050000 87.58593345104586
|
| 21 |
-
159051.790008000 87.59502240189622
|
| 22 |
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159051.795228000 87.58593345104586
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| 23 |
-
159051.800244000 87.58593345104586
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| 24 |
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159051.806284000 87.58593345104586
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| 25 |
-
159051.810005000 87.58593345104586
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| 26 |
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159051.815004000 87.58593345104586
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| 27 |
-
159051.820463000 87.58593345104586
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| 28 |
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159051.825020000 87.58593345104586
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| 29 |
-
159051.830054000 87.58593345104586
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| 30 |
-
159051.836891000 87.58593345104586
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| 31 |
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| 32 |
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159051.845008000 87.58593345104586
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| 33 |
-
159051.850970000 87.58593345104586
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| 34 |
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159051.855093000 87.58593345104586
|
| 35 |
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159051.860018000 87.58593345104586
|
| 36 |
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159051.865096000 87.58593345104586
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| 37 |
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159051.870072000 87.58593345104586
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| 38 |
-
159051.875006000 87.58593345104586
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| 39 |
-
159051.880013000 87.58593345104586
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| 40 |
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159051.888052000 87.58593345104586
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| 41 |
-
159051.891782000 87.58593345104586
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| 42 |
-
159051.896022000 87.58593345104586
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| 43 |
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159051.900377000 87.58593345104586
|
| 44 |
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159051.905349000 87.58593345104586
|
| 45 |
-
159051.910009000 87.58593345104586
|
| 46 |
-
159051.915001000 87.58593345104586
|
| 47 |
-
159051.921267000 87.59502240189622
|
| 48 |
-
159051.925041000 87.59502240189622
|
| 49 |
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159051.930001000 87.59502240189622
|
| 50 |
-
159051.937343000 87.58593345104586
|
| 51 |
-
159051.940777000 87.58593345104586
|
| 52 |
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159051.944998000 87.58593345104586
|
| 53 |
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159051.950166000 87.58593345104586
|
| 54 |
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159051.955064000 87.58593345104586
|
| 55 |
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159051.960076000 87.58593345104586
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| 56 |
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159051.965003000 87.59502240189622
|
| 57 |
-
159051.970000000 87.58593345104586
|
| 58 |
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159051.975074000 87.59502240189622
|
| 59 |
-
159051.980690000 87.59502240189622
|
| 60 |
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159051.986328000 87.58593345104586
|
| 61 |
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159051.990005000 87.58593345104586
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| 62 |
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159051.995259000 87.58593345104586
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| 63 |
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159052.000288000 87.58593345104586
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| 64 |
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159052.006207000 87.58593345104586
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| 65 |
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159052.010014000 87.58593345104586
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| 66 |
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159052.015000000 87.58593345104586
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| 67 |
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159052.020470000 87.58593345104586
|
| 68 |
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159052.025052000 87.58593345104586
|
| 69 |
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159052.030006000 87.58593345104586
|
| 70 |
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159052.036972000 87.58593345104586
|
| 71 |
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159052.040784000 87.58593345104586
|
| 72 |
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159052.045073000 87.59502240189622
|
| 73 |
-
159052.050013000 87.58593345104586
|
| 74 |
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159052.055028000 87.58593345104586
|
| 75 |
-
159052.060009000 87.58593345104586
|
| 76 |
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159052.065021000 87.58593345104586
|
| 77 |
-
159052.070055000 87.58593345104586
|
| 78 |
-
159052.075000000 87.58593345104586
|
| 79 |
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159052.080008000 87.58593345104586
|
| 80 |
-
159052.087831000 87.57684354389714
|
| 81 |
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159052.090804000 87.58593345104586
|
| 82 |
-
159052.095789000 87.57684354389714
|
| 83 |
-
159052.100351000 87.58593345104586
|
| 84 |
-
159052.105007000 87.58593345104586
|
| 85 |
-
159052.110010000 87.58593345104586
|
| 86 |
-
159052.115021000 87.58593345104586
|
| 87 |
-
159052.120472000 87.59502240189622
|
| 88 |
-
159052.124994000 87.59502240189622
|
| 89 |
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159052.130024000 87.58593345104586
|
| 90 |
-
159052.136647000 87.58593345104586
|
| 91 |
-
159052.140394000 87.58593345104586
|
| 92 |
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159052.144988000 87.58593345104586
|
| 93 |
-
159052.150063000 87.58593345104586
|
| 94 |
-
159052.155006000 87.58593345104586
|
| 95 |
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159057.921348000 87.40395376564047
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| 1248 |
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159057.924578000 87.40395376564047
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| 1249 |
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159057.930117000 87.40395376564047
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| 1250 |
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159057.935241000 87.40395376564047
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| 1251 |
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159057.939592000 87.40395376564047
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159057.944564000 87.40395376564047
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| 1253 |
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159057.949631000 87.40395376564047
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| 1254 |
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159057.954575000 87.40395376564047
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| 1255 |
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159057.959590000 87.40395376564047
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| 1256 |
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159057.964834000 87.40395376564047
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| 1257 |
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159057.969612000 87.39484475688592
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| 1258 |
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159057.974574000 87.40395376564047
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159057.979915000 87.40395376564047
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159057.984587000 87.40395376564047
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159057.989575000 87.40395376564047
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159057.994607000 87.40395376564047
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159057.999732000 87.40395376564047
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159058.014557000 87.39484475688592
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159058.019722000 87.39484475688592
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159058.039794000 87.40395376564047
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159058.044550000 87.40395376564047
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159058.059571000 87.40395376564047
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159058.074548000 87.40395376564047
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159058.079680000 87.39484475688592
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159058.085071000 87.39484475688592
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159058.089570000 87.39484475688592
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159058.094550000 87.39484475688592
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159058.679521000 87.39484475688592
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159058.686893000 87.39484475688592
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159058.690288000 87.39484475688592
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159058.695085000 87.39484475688592
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159058.750178000 87.39484475688592
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159058.759624000 87.39484475688592
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159058.764524000 87.39484475688592
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159058.814520000 87.39484475688592
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159058.819557000 87.39484475688592
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multi_sessions_20251119_183352/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: 713
|
| 19 |
-
均值融合 (都低速): 713
|
| 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 18:34:26
|
| 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_183352/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,430 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159051.676179
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|
multi_sessions_20251119_183352/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:e69bfd91cfa46ea30a2c338e24ecac82d05e62a76e7f939982873c85b90cb746
|
| 3 |
-
size 3568718
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|
multi_sessions_20251119_183352/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/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: 159051.691982s
|
| 6 |
-
Vive 第一帧时间戳: 1763548457.572451s
|
| 7 |
-
计算的 offset: -1763389405.880469s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.880469
|
| 9 |
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| 10 |
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说明:
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| 11 |
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- 所有保存的 Vive 数据已使用对齐后的时间戳
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| 12 |
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- 时间戳已与 SLAM 数据对齐
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| 13 |
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- 坐标已转换到 Gripper 坐标系
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| 14 |
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| 15 |
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生成时间: 2025-11-19 18:34:26
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| 16 |
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设备标签: main
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| 17 |
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XV 序列号: 250801DR48FP25002087
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| 18 |
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_183352/session_002/Vive_Poses/vive_data_tum.txt
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_183352/session_003/Clamp_Data/clamp.csv
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|
multi_sessions_20251119_183352/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1627 +0,0 @@
|
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| 1 |
-
159068.683810000 87.476791482733
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| 2 |
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159068.688815000 87.476791482733
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| 3 |
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159068.693808000 87.476791482733
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| 4 |
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159068.699014000 87.476791482733
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| 5 |
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159068.703817000 87.476791482733
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| 6 |
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159068.709104000 87.46769010904983
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| 7 |
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159068.714420000 87.46769010904983
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| 8 |
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159068.718846000 87.46769010904983
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| 9 |
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159068.723841000 87.46769010904983
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| 10 |
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159068.728811000 87.476791482733
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159068.733810000 87.476791482733
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159068.738821000 87.476791482733
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159068.743942000 87.476791482733
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159068.748853000 87.476791482733
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| 15 |
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159068.753819000 87.476791482733
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159068.758818000 87.476791482733
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| 17 |
-
159068.764117000 87.46769010904983
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| 18 |
-
159068.768812000 87.46769010904983
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| 19 |
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159068.773818000 87.476791482733
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159068.778902000 87.476791482733
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| 21 |
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159068.783813000 87.476791482733
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159068.788811000 87.476791482733
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159068.793807000 87.476791482733
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159068.800093000 87.476791482733
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159068.803834000 87.476791482733
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159068.814465000 87.476791482733
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159068.819450000 87.476791482733
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159068.823794000 87.46769010904983
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159068.828978000 87.476791482733
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| 31 |
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159068.833793000 87.46769010904983
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159068.838810000 87.476791482733
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159068.843790000 87.46769010904983
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159068.848848000 87.46769010904983
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159068.853899000 87.476791482733
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159068.858803000 87.476791482733
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159068.865987000 87.476791482733
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159068.869564000 87.476791482733
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159068.873797000 87.476791482733
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159068.884129000 87.476791482733
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159068.888797000 87.476791482733
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159068.893790000 87.46769010904983
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| 44 |
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159068.899256000 87.46769010904983
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| 45 |
-
159068.903840000 87.476791482733
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159068.908831000 87.46769010904983
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| 47 |
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159068.914504000 87.476791482733
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159068.919144000 87.476791482733
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| 49 |
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159068.923847000 87.476791482733
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| 50 |
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159068.928799000 87.476791482733
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| 51 |
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159068.933838000 87.46769010904983
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| 52 |
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159068.938805000 87.46769010904983
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| 53 |
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159068.943791000 87.476791482733
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| 54 |
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159068.948886000 87.476791482733
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| 55 |
-
159068.953801000 87.48589190150977
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| 56 |
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159068.958818000 87.476791482733
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| 57 |
-
159068.964331000 87.476791482733
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| 58 |
-
159068.968895000 87.46769010904983
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| 59 |
-
159068.973802000 87.476791482733
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| 60 |
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159068.980466000 87.476791482733
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| 61 |
-
159068.983936000 87.476791482733
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| 62 |
-
159068.988803000 87.476791482733
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| 63 |
-
159068.993810000 87.476791482733
|
| 64 |
-
159069.000069000 87.476791482733
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| 65 |
-
159069.003833000 87.476791482733
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| 66 |
-
159069.009298000 87.476791482733
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| 67 |
-
159069.013829000 87.476791482733
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| 68 |
-
159069.019306000 87.476791482733
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| 69 |
-
159069.023774000 87.476791482733
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| 70 |
-
159069.028788000 87.476791482733
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| 71 |
-
159069.033776000 87.476791482733
|
| 72 |
-
159069.038788000 87.476791482733
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| 73 |
-
159069.043768000 87.46769010904983
|
| 74 |
-
159069.048989000 87.46769010904983
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| 75 |
-
159069.053778000 87.476791482733
|
| 76 |
-
159069.058783000 87.476791482733
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| 77 |
-
159069.064281000 87.476791482733
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| 78 |
-
159069.068772000 87.476791482733
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| 79 |
-
159069.073851000 87.476791482733
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| 80 |
-
159069.078826000 87.476791482733
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| 81 |
-
159069.084122000 87.476791482733
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| 82 |
-
159069.088799000 87.46769010904983
|
| 83 |
-
159069.093790000 87.46769010904983
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| 84 |
-
159069.099394000 87.46769010904983
|
| 85 |
-
159069.103822000 87.46769010904983
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| 86 |
-
159069.108810000 87.476791482733
|
| 87 |
-
159069.113917000 87.476791482733
|
| 88 |
-
159069.119218000 87.48589190150977
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| 89 |
-
159069.124038000 87.476791482733
|
| 90 |
-
159069.128776000 87.476791482733
|
| 91 |
-
159069.133777000 87.476791482733
|
| 92 |
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159069.138852000 87.476791482733
|
| 93 |
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159069.143806000 87.46769010904983
|
| 94 |
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159069.148961000 87.46769010904983
|
| 95 |
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159069.153784000 87.476791482733
|
| 96 |
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|
| 97 |
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159069.164513000 87.476791482733
|
| 98 |
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159069.168911000 87.46769010904983
|
| 99 |
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159069.173777000 87.46769010904983
|
| 100 |
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159069.179524000 87.476791482733
|
| 101 |
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159069.183966000 87.46769010904983
|
| 102 |
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159069.188775000 87.46769010904983
|
| 103 |
-
159069.193789000 87.46769010904983
|
| 104 |
-
159069.200050000 87.46769010904983
|
| 105 |
-
159069.203776000 87.476791482733
|
| 106 |
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multi_sessions_20251119_183352/session_003/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: 813
|
| 19 |
-
均值融合 (都低速): 813
|
| 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 18:34:44
|
| 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_183352/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,489 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159068.683039
|
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1,159068.699545
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11,159068.867044
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multi_sessions_20251119_183352/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:b73ee8003ff203f5277b308122f8ddcc9bb658aa29e583fa36559b799eb7af19
|
| 3 |
-
size 3701116
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multi_sessions_20251119_183352/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/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: 159068.681980s
|
| 6 |
-
Vive 第一帧时间戳: 1763548474.562480s
|
| 7 |
-
计算的 offset: -1763389405.880501s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.880501
|
| 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 18:34:44
|
| 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_183352/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_183352/session_004/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1414 +0,0 @@
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timestamp,clamp
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159094.462243,87.12113147140742
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159094.467092,87.130269045409
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| 1318 |
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159094.472089,87.12113147140742
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159094.477832,87.12113147140742
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159094.482091,87.12113147140742
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159094.487143,87.12113147140742
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159094.493582,87.12113147140742
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159094.497285,87.12113147140742
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159094.50209,87.12113147140742
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159094.507961,87.12113147140742
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159094.512122,87.12113147140742
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| 1327 |
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159094.517098,87.11199294703552
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159094.522115,87.12113147140742
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| 1329 |
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159094.527774,87.12113147140742
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159094.532206,87.12113147140742
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159094.537786,87.12113147140742
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159094.542257,87.12113147140742
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159094.547101,87.11199294703552
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159094.552089,87.12113147140742
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159094.557599,87.12113147140742
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159094.567089,87.12113147140742
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159094.572088,87.12113147140742
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159094.577126,87.12113147140742
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159094.582141,87.12113147140742
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159094.587177,87.12113147140742
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159094.593227,87.12113147140742
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159094.597349,87.11199294703552
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159094.622084,87.11199294703552
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159094.627146,87.12113147140742
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159094.632083,87.11199294703552
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159094.637093,87.12113147140742
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159094.643003,87.11199294703552
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159094.64709,87.11199294703552
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159094.66712,87.11199294703552
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159094.672081,87.11199294703552
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159094.677858,87.11199294703552
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159094.682132,87.11199294703552
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159094.687092,87.11199294703552
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159094.694709,87.1028534724098
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159094.697838,87.1028534724098
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159094.707402,87.1028534724098
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159094.712133,87.11199294703552
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159094.717091,87.11199294703552
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159094.722078,87.11199294703552
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159094.727772,87.11199294703552
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159094.73225,87.11199294703552
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159094.737604,87.11199294703552
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159094.742147,87.11199294703552
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159094.74709,87.1028534724098
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159094.752084,87.1028534724098
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159094.757551,87.11199294703552
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159094.762275,87.11199294703552
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159094.767087,87.11199294703552
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| 1378 |
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159094.7721,87.1028534724098
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159094.778029,87.1028534724098
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159094.782088,87.1028534724098
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159094.787119,87.1028534724098
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159094.793297,87.1028534724098
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159094.79725,87.1028534724098
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159094.802082,87.1028534724098
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159094.807407,87.1028534724098
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159094.812088,87.1028534724098
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159094.817093,87.1028534724098
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| 1388 |
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159094.823259,87.1028534724098
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| 1389 |
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159094.827166,87.11199294703552
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| 1390 |
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159094.832067,87.1028534724098
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159094.837078,87.1028534724098
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159094.843144,87.1028534724098
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159094.847072,87.1028534724098
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159094.85207,87.1028534724098
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159094.858189,87.1028534724098
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159094.862067,87.1028534724098
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| 1397 |
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159094.867103,87.1028534724098
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| 1398 |
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159094.872066,87.1028534724098
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| 1399 |
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159094.877773,87.1028534724098
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| 1400 |
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159094.882093,87.09371304764684
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| 1401 |
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159094.88707,87.1028534724098
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159094.894602,87.1028534724098
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159094.897828,87.1028534724098
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159094.902111,87.1028534724098
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159094.907144,87.1028534724098
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159094.912073,87.1028534724098
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159094.917076,87.1028534724098
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| 1408 |
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159094.922064,87.1028534724098
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| 1409 |
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159094.927145,87.1028534724098
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| 1410 |
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159094.932345,87.1028534724098
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| 1411 |
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159094.937075,87.1028534724098
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| 1412 |
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159094.94256,87.1028534724098
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| 1413 |
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159094.947077,87.1028534724098
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| 1414 |
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159094.952078,87.1028534724098
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|
multi_sessions_20251119_183352/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1413 +0,0 @@
|
|
| 1 |
-
159087.892927000 87.76753061726019
|
| 2 |
-
159087.897698000 87.76753061726019
|
| 3 |
-
159087.902484000 87.77660041781606
|
| 4 |
-
159087.907484000 87.77660041781606
|
| 5 |
-
159087.912957000 87.77660041781606
|
| 6 |
-
159087.917515000 87.77660041781606
|
| 7 |
-
159087.922479000 87.77660041781606
|
| 8 |
-
159087.927686000 87.77660041781606
|
| 9 |
-
159087.932518000 87.77660041781606
|
| 10 |
-
159087.937507000 87.76753061726019
|
| 11 |
-
159087.943456000 87.77660041781606
|
| 12 |
-
159087.947465000 87.76753061726019
|
| 13 |
-
159087.952760000 87.77660041781606
|
| 14 |
-
159087.957480000 87.77660041781606
|
| 15 |
-
159087.963517000 87.77660041781606
|
| 16 |
-
159087.967461000 87.76753061726019
|
| 17 |
-
159087.972462000 87.77660041781606
|
| 18 |
-
159087.978214000 87.77660041781606
|
| 19 |
-
159087.982474000 87.77660041781606
|
| 20 |
-
159087.987786000 87.77660041781606
|
| 21 |
-
159087.992737000 87.77660041781606
|
| 22 |
-
159087.997817000 87.77660041781606
|
| 23 |
-
159088.002591000 87.77660041781606
|
| 24 |
-
159088.007464000 87.77660041781606
|
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multi_sessions_20251119_183352/session_004/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 706
|
| 19 |
-
均值融合 (都低速): 706
|
| 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 18:35:02
|
| 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_183352/session_004/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/session_004/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/session_004/RGB_Images/timestamps.csv
DELETED
|
@@ -1,426 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159087.877921
|
| 3 |
-
1,159087.895562
|
| 4 |
-
2,159087.91152
|
| 5 |
-
3,159087.928649
|
| 6 |
-
4,159087.9456
|
| 7 |
-
5,159087.961618
|
| 8 |
-
6,159087.977743
|
| 9 |
-
7,159087.995739
|
| 10 |
-
8,159088.011677
|
| 11 |
-
9,159088.028442
|
| 12 |
-
10,159088.045415
|
| 13 |
-
11,159088.061895
|
| 14 |
-
12,159088.0787
|
| 15 |
-
13,159088.095343
|
| 16 |
-
14,159088.111476
|
| 17 |
-
15,159088.128256
|
| 18 |
-
16,159088.145673
|
| 19 |
-
17,159088.1617
|
| 20 |
-
18,159088.177687
|
| 21 |
-
19,159088.195624
|
| 22 |
-
20,159088.211727
|
| 23 |
-
21,159088.228432
|
| 24 |
-
22,159088.245674
|
| 25 |
-
23,159088.262049
|
| 26 |
-
24,159088.278725
|
| 27 |
-
25,159088.295352
|
| 28 |
-
26,159088.311466
|
| 29 |
-
27,159088.328193
|
| 30 |
-
28,159088.34561
|
| 31 |
-
29,159088.361659
|
| 32 |
-
30,159088.377703
|
| 33 |
-
31,159088.395588
|
| 34 |
-
32,159088.41177
|
| 35 |
-
33,159088.428524
|
| 36 |
-
34,159088.445692
|
| 37 |
-
35,159088.461933
|
| 38 |
-
36,159088.478652
|
| 39 |
-
37,159088.495445
|
| 40 |
-
38,159088.511417
|
| 41 |
-
39,159088.528077
|
| 42 |
-
40,159088.545478
|
| 43 |
-
41,159088.561819
|
| 44 |
-
42,159088.577593
|
| 45 |
-
43,159088.595536
|
| 46 |
-
44,159088.611676
|
| 47 |
-
45,159088.628373
|
| 48 |
-
46,159088.645434
|
| 49 |
-
47,159088.66153
|
| 50 |
-
48,159088.677712
|
| 51 |
-
49,159088.695429
|
| 52 |
-
50,159088.711392
|
| 53 |
-
51,159088.72801
|
| 54 |
-
52,159088.745359
|
| 55 |
-
53,159088.761749
|
| 56 |
-
54,159088.777605
|
| 57 |
-
55,159088.795513
|
| 58 |
-
56,159088.81121
|
| 59 |
-
57,159088.828431
|
| 60 |
-
58,159088.845503
|
| 61 |
-
59,159088.861456
|
| 62 |
-
60,159088.877516
|
| 63 |
-
61,159088.895478
|
| 64 |
-
62,159088.911384
|
| 65 |
-
63,159088.928162
|
| 66 |
-
64,159088.945641
|
| 67 |
-
65,159088.962011
|
| 68 |
-
66,159088.977592
|
| 69 |
-
67,159088.995169
|
| 70 |
-
68,159089.011279
|
| 71 |
-
69,159089.028581
|
| 72 |
-
70,159089.04539
|
| 73 |
-
71,159089.061456
|
| 74 |
-
72,159089.077445
|
| 75 |
-
73,159089.095669
|
| 76 |
-
74,159089.111365
|
| 77 |
-
75,159089.128174
|
| 78 |
-
76,159089.145596
|
| 79 |
-
77,159089.161917
|
| 80 |
-
78,159089.178334
|
| 81 |
-
79,159089.194963
|
| 82 |
-
80,159089.211288
|
| 83 |
-
81,159089.228758
|
| 84 |
-
82,159089.244324
|
| 85 |
-
83,159089.261168
|
| 86 |
-
84,159089.277399
|
| 87 |
-
85,159089.295626
|
| 88 |
-
86,159089.31145
|
| 89 |
-
87,159089.328358
|
| 90 |
-
88,159089.345819
|
| 91 |
-
89,159089.361742
|
| 92 |
-
90,159089.377579
|
| 93 |
-
91,159089.395231
|
| 94 |
-
92,159089.410715
|
| 95 |
-
93,159089.428782
|
| 96 |
-
94,159089.445145
|
| 97 |
-
95,159089.461357
|
| 98 |
-
96,159089.47737
|
| 99 |
-
97,159089.495388
|
| 100 |
-
98,159089.511255
|
| 101 |
-
99,159089.528127
|
| 102 |
-
100,159089.545443
|
| 103 |
-
101,159089.561642
|
| 104 |
-
102,159089.577722
|
| 105 |
-
103,159089.594976
|
| 106 |
-
104,159089.611051
|
| 107 |
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105,159089.63025
|
| 108 |
-
106,159089.645421
|
| 109 |
-
107,159089.661376
|
| 110 |
-
108,159089.677331
|
| 111 |
-
109,159089.695125
|
| 112 |
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110,159089.71125
|
| 113 |
-
111,159089.728098
|
| 114 |
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112,159089.745196
|
| 115 |
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113,159089.767059
|
| 116 |
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114,159089.779801
|
| 117 |
-
115,159089.795123
|
| 118 |
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116,159089.811133
|
| 119 |
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117,159089.828679
|
| 120 |
-
118,159089.845409
|
| 121 |
-
119,159089.86162
|
| 122 |
-
120,159089.877321
|
| 123 |
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121,159089.895198
|
| 124 |
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122,159089.911381
|
| 125 |
-
123,159089.92811
|
| 126 |
-
124,159089.94413
|
| 127 |
-
125,159089.960902
|
| 128 |
-
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multi_sessions_20251119_183352/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:352a4912edf36adf8956c205e2d51d2abed9caed7919e37cc419023bff2d4128
|
| 3 |
-
size 3417747
|
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|
multi_sessions_20251119_183352/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/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: 159087.889978s
|
| 6 |
-
Vive 第一帧时间戳: 1763548493.772442s
|
| 7 |
-
计算的 offset: -1763389405.882464s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.882464
|
| 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 18:35:02
|
| 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_183352/session_004/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/session_005/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1836 +0,0 @@
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timestamp,clamp
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|
multi_sessions_20251119_183352/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1835 +0,0 @@
|
|
| 1 |
-
159104.386475000 87.58593345104586
|
| 2 |
-
159104.392411000 87.57684354389714
|
| 3 |
-
159104.396446000 87.57684354389714
|
| 4 |
-
159104.401440000 87.57684354389714
|
| 5 |
-
159104.406544000 87.58593345104586
|
| 6 |
-
159104.411448000 87.58593345104586
|
| 7 |
-
159104.416447000 87.59502240189622
|
| 8 |
-
159104.422162000 87.59502240189622
|
| 9 |
-
159104.426900000 87.58593345104586
|
| 10 |
-
159104.431915000 87.57684354389714
|
| 11 |
-
159104.436850000 87.58593345104586
|
| 12 |
-
159104.441497000 87.58593345104586
|
| 13 |
-
159104.446513000 87.57684354389714
|
| 14 |
-
159104.451440000 87.58593345104586
|
| 15 |
-
159104.458968000 87.58593345104586
|
| 16 |
-
159104.462190000 87.58593345104586
|
| 17 |
-
159104.466858000 87.58593345104586
|
| 18 |
-
159104.473584000 87.58593345104586
|
| 19 |
-
159104.477202000 87.58593345104586
|
| 20 |
-
159104.481442000 87.57684354389714
|
| 21 |
-
159104.486443000 87.57684354389714
|
| 22 |
-
159104.492260000 87.58593345104586
|
| 23 |
-
159104.496452000 87.58593345104586
|
| 24 |
-
159104.501437000 87.58593345104586
|
| 25 |
-
159104.506474000 87.58593345104586
|
| 26 |
-
159104.511451000 87.58593345104586
|
| 27 |
-
159104.516451000 87.58593345104586
|
| 28 |
-
159104.521485000 87.58593345104586
|
| 29 |
-
159104.526928000 87.58593345104586
|
| 30 |
-
159104.531440000 87.59502240189622
|
| 31 |
-
159104.536657000 87.58593345104586
|
| 32 |
-
159104.541478000 87.58593345104586
|
| 33 |
-
159104.546449000 87.58593345104586
|
| 34 |
-
159104.551441000 87.58593345104586
|
| 35 |
-
159104.558844000 87.58593345104586
|
| 36 |
-
159104.562191000 87.58593345104586
|
| 37 |
-
159104.566688000 87.58593345104586
|
| 38 |
-
159104.574880000 87.59502240189622
|
| 39 |
-
159104.578186000 87.58593345104586
|
| 40 |
-
159104.581668000 87.58593345104586
|
| 41 |
-
159104.586424000 87.58593345104586
|
| 42 |
-
159104.592492000 87.58593345104586
|
| 43 |
-
159104.596468000 87.58593345104586
|
| 44 |
-
159104.601424000 87.58593345104586
|
| 45 |
-
159104.606767000 87.58593345104586
|
| 46 |
-
159104.611435000 87.58593345104586
|
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| 1760 |
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159113.180938000 87.48589190150977
|
| 1761 |
-
159113.185902000 87.49499136526408
|
| 1762 |
-
159113.191213000 87.48589190150977
|
| 1763 |
-
159113.195951000 87.48589190150977
|
| 1764 |
-
159113.201009000 87.48589190150977
|
| 1765 |
-
159113.205940000 87.48589190150977
|
| 1766 |
-
159113.210876000 87.48589190150977
|
| 1767 |
-
159113.215879000 87.48589190150977
|
| 1768 |
-
159113.221067000 87.48589190150977
|
| 1769 |
-
159113.225870000 87.48589190150977
|
| 1770 |
-
159113.230869000 87.48589190150977
|
| 1771 |
-
159113.238658000 87.49499136526408
|
| 1772 |
-
159113.241618000 87.48589190150977
|
| 1773 |
-
159113.245946000 87.49499136526408
|
| 1774 |
-
159113.251238000 87.48589190150977
|
| 1775 |
-
159113.256223000 87.49499136526408
|
| 1776 |
-
159113.260870000 87.49499136526408
|
| 1777 |
-
159113.265876000 87.49499136526408
|
| 1778 |
-
159113.272406000 87.49499136526408
|
| 1779 |
-
159113.275878000 87.50408987387988
|
| 1780 |
-
159113.280894000 87.49499136526408
|
| 1781 |
-
159113.285945000 87.49499136526408
|
| 1782 |
-
159113.291177000 87.49499136526408
|
| 1783 |
-
159113.295880000 87.50408987387988
|
| 1784 |
-
159113.300877000 87.50408987387988
|
| 1785 |
-
159113.305901000 87.50408987387988
|
| 1786 |
-
159113.310865000 87.50408987387988
|
| 1787 |
-
159113.315862000 87.50408987387988
|
| 1788 |
-
159113.321170000 87.50408987387988
|
| 1789 |
-
159113.325853000 87.50408987387988
|
| 1790 |
-
159113.330854000 87.49499136526408
|
| 1791 |
-
159113.336201000 87.49499136526408
|
| 1792 |
-
159113.341332000 87.49499136526408
|
| 1793 |
-
159113.345858000 87.49499136526408
|
| 1794 |
-
159113.350870000 87.50408987387988
|
| 1795 |
-
159113.356456000 87.50408987387988
|
| 1796 |
-
159113.360855000 87.49499136526408
|
| 1797 |
-
159113.365886000 87.49499136526408
|
| 1798 |
-
159113.372192000 87.50408987387988
|
| 1799 |
-
159113.375860000 87.50408987387988
|
| 1800 |
-
159113.380854000 87.5131874272411
|
| 1801 |
-
159113.386126000 87.5131874272411
|
| 1802 |
-
159113.391171000 87.50408987387988
|
| 1803 |
-
159113.395864000 87.50408987387988
|
| 1804 |
-
159113.400852000 87.50408987387988
|
| 1805 |
-
159113.405922000 87.50408987387988
|
| 1806 |
-
159113.410858000 87.50408987387988
|
| 1807 |
-
159113.415863000 87.5131874272411
|
| 1808 |
-
159113.421309000 87.50408987387988
|
| 1809 |
-
159113.425853000 87.50408987387988
|
| 1810 |
-
159113.430855000 87.50408987387988
|
| 1811 |
-
159113.437740000 87.50408987387988
|
| 1812 |
-
159113.440926000 87.50408987387988
|
| 1813 |
-
159113.445878000 87.50408987387988
|
| 1814 |
-
159113.450849000 87.50408987387988
|
| 1815 |
-
159113.456471000 87.5131874272411
|
| 1816 |
-
159113.460859000 87.5131874272411
|
| 1817 |
-
159113.465862000 87.50408987387988
|
| 1818 |
-
159113.473134000 87.49499136526408
|
| 1819 |
-
159113.476608000 87.49499136526408
|
| 1820 |
-
159113.480927000 87.50408987387988
|
| 1821 |
-
159113.485938000 87.50408987387988
|
| 1822 |
-
159113.491096000 87.50408987387988
|
| 1823 |
-
159113.495863000 87.5131874272411
|
| 1824 |
-
159113.500951000 87.5131874272411
|
| 1825 |
-
159113.506218000 87.5131874272411
|
| 1826 |
-
159113.511223000 87.5131874272411
|
| 1827 |
-
159113.516261000 87.5131874272411
|
| 1828 |
-
159113.521208000 87.5131874272411
|
| 1829 |
-
159113.525839000 87.5131874272411
|
| 1830 |
-
159113.530844000 87.5131874272411
|
| 1831 |
-
159113.535911000 87.5131874272411
|
| 1832 |
-
159113.540880000 87.5131874272411
|
| 1833 |
-
159113.545900000 87.5131874272411
|
| 1834 |
-
159113.550833000 87.5131874272411
|
| 1835 |
-
159113.556399000 87.5131874272411
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multi_sessions_20251119_183352/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: 916
|
| 19 |
-
均值融合 (都低速): 916
|
| 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 18:35:21
|
| 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_183352/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183352/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,552 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159104.374321
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| 3 |
-
1,159104.391932
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4,159104.440785
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5,159104.459054
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8,159104.507652
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11,159104.558985
|
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-
12,159104.574207
|
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13,159104.592013
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|
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24,159104.774101
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25,159104.791939
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26,159104.80777
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27,159104.825705
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|
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29,159104.85893
|
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30,159104.874565
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|
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63,159105.425498
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|
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75,159105.625463
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78,159105.673995
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79,159105.691577
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80,159105.707161
|
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81,159105.725379
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82,159105.740757
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83,159105.758743
|
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84,159105.773907
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86,159105.807421
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87,159105.825467
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88,159105.840466
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89,159105.858663
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91,159105.891561
|
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100,159106.040488
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101,159106.058679
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102,159106.074278
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104,159106.107234
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|
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113,159106.258255
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117,159106.324902
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|
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|
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130,159106.540201
|
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131,159106.558234
|
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132,159106.574351
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133,159106.591341
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134,159106.607099
|
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135,159106.624921
|
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136,159106.640779
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138,159106.674403
|
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139,159106.691307
|
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140,159106.707598
|
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141,159106.72532
|
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142,159106.740347
|
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143,159106.758576
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multi_sessions_20251119_183352/session_005/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:c8cabc046628afbf244e74d5bda053aefc97ad511f683a05c6ba7c8aa68092c2
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| 3 |
-
size 4188808
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multi_sessions_20251119_183352/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
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|
multi_sessions_20251119_183352/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: 159104.387982s
|
| 6 |
-
Vive 第一帧时间戳: 1763548510.272443s
|
| 7 |
-
计算的 offset: -1763389405.884461s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.884461
|
| 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 18:35:21
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
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