Delete multi_sessions_20251119_182727
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- multi_sessions_20251119_182727/collection_summary.txt +0 -93
- multi_sessions_20251119_182727/session_001/Clamp_Data/clamp.csv +0 -1531
- multi_sessions_20251119_182727/session_001/Clamp_Data/clamp_data_tum.txt +0 -1530
- multi_sessions_20251119_182727/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_182727/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182727/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182727/session_001/RGB_Images/timestamps.csv +0 -460
- multi_sessions_20251119_182727/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182727/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182727/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182727/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182727/session_002/Clamp_Data/clamp.csv +0 -1551
- multi_sessions_20251119_182727/session_002/Clamp_Data/clamp_data_tum.txt +0 -1550
- multi_sessions_20251119_182727/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_182727/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182727/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182727/session_002/RGB_Images/timestamps.csv +0 -467
- multi_sessions_20251119_182727/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182727/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182727/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182727/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182727/session_003/Clamp_Data/clamp.csv +0 -1354
- multi_sessions_20251119_182727/session_003/Clamp_Data/clamp_data_tum.txt +0 -1353
- multi_sessions_20251119_182727/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_182727/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182727/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182727/session_003/RGB_Images/timestamps.csv +0 -407
- multi_sessions_20251119_182727/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182727/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182727/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182727/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182727/session_004/Clamp_Data/clamp.csv +0 -1450
- multi_sessions_20251119_182727/session_004/Clamp_Data/clamp_data_tum.txt +0 -1449
- multi_sessions_20251119_182727/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_182727/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182727/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182727/session_004/RGB_Images/timestamps.csv +0 -436
- multi_sessions_20251119_182727/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182727/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182727/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182727/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182727/session_005/Clamp_Data/clamp.csv +0 -1541
- multi_sessions_20251119_182727/session_005/Clamp_Data/clamp_data_tum.txt +0 -1540
- multi_sessions_20251119_182727/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_182727/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182727/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182727/session_005/RGB_Images/timestamps.csv +0 -463
- multi_sessions_20251119_182727/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182727/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182727/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_182727/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 18:27:29 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_182727
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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 18:27:29 CST
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输出目录: ./multi_sessions_20251119_182727/session_001
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结束时间: 2025年 11月 19日 星期三 18:27:44 CST
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持续时间: 15秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182727/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 18:27:48 CST
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输出目录: ./multi_sessions_20251119_182727/session_002
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结束时间: 2025年 11月 19日 星期三 18:28:02 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_182727/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 18:28:06 CST
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输出目录: ./multi_sessions_20251119_182727/session_003
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结束时间: 2025年 11月 19日 星期三 18:28:18 CST
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持续时间: 12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_182727/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 18:28:22 CST
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输出目录: ./multi_sessions_20251119_182727/session_004
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结束时间: 2025年 11月 19日 星期三 18:28:36 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_182727/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 18:28:39 CST
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输出目录: ./multi_sessions_20251119_182727/session_005
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结束时间: 2025年 11月 19日 星期三 18:28:56 CST
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持续时间: 17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_182727/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 18:28:56 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_182727/
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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_182727/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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|
multi_sessions_20251119_182727/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1530 +0,0 @@
|
|
| 1 |
-
158646.176920000 87.975893266592
|
| 2 |
-
158646.181164000 87.975893266592
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| 3 |
-
158646.186359000 87.975893266592
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| 4 |
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158646.191024000 87.975893266592
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| 5 |
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158646.196074000 87.975893266592
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| 6 |
-
158646.202036000 87.975893266592
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| 7 |
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158646.206116000 87.98494098711389
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| 8 |
-
158646.211028000 87.975893266592
|
| 9 |
-
158646.216108000 87.98494098711389
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| 10 |
-
158646.224288000 87.975893266592
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| 11 |
-
158646.227919000 87.975893266592
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| 12 |
-
158646.231025000 87.975893266592
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| 13 |
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158646.236224000 87.975893266592
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| 14 |
-
158646.241168000 87.975893266592
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| 15 |
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158646.246026000 87.975893266592
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| 16 |
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158646.251023000 87.975893266592
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| 17 |
-
158646.256822000 87.975893266592
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| 18 |
-
158646.261031000 87.975893266592
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| 19 |
-
158646.266122000 87.975893266592
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| 20 |
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158646.273369000 87.975893266592
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| 21 |
-
158646.276915000 87.975893266592
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| 22 |
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158646.281841000 87.975893266592
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| 23 |
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158646.286924000 87.975893266592
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| 24 |
-
158646.291003000 87.975893266592
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| 25 |
-
158646.296011000 87.975893266592
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| 26 |
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158646.301635000 87.975893266592
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| 27 |
-
158646.306034000 87.98494098711389
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| 28 |
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158646.311054000 87.98494098711389
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| 29 |
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158646.316182000 87.975893266592
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| 30 |
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158646.321457000 87.975893266592
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| 31 |
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158646.326004000 87.975893266592
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| 32 |
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158646.331002000 87.975893266592
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| 33 |
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158646.337738000 87.98494098711389
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| 34 |
-
158646.340999000 87.98494098711389
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| 35 |
-
158646.346000000 87.975893266592
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| 36 |
-
158646.351001000 87.975893266592
|
| 37 |
-
158646.358014000 87.975893266592
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| 38 |
-
158646.361089000 87.98494098711389
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| 39 |
-
158646.366014000 87.975893266592
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| 40 |
-
158646.373390000 87.975893266592
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| 41 |
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158646.376951000 87.975893266592
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| 42 |
-
158646.380998000 87.975893266592
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| 43 |
-
158646.386183000 87.975893266592
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| 44 |
-
158646.391004000 87.975893266592
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| 45 |
-
158646.396015000 87.98494098711389
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| 46 |
-
158646.402020000 87.975893266592
|
| 47 |
-
158646.406154000 87.975893266592
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| 48 |
-
158646.411002000 87.975893266592
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| 49 |
-
158646.416028000 87.975893266592
|
| 50 |
-
158646.424217000 87.975893266592
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| 51 |
-
158646.427887000 87.975893266592
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| 52 |
-
158646.430999000 87.975893266592
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| 53 |
-
158646.436207000 87.975893266592
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| 54 |
-
158646.441145000 87.975893266592
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| 55 |
-
158646.446002000 87.975893266592
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| 56 |
-
158646.450996000 87.975893266592
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| 57 |
-
158646.456801000 87.975893266592
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| 58 |
-
158646.461004000 87.975893266592
|
| 59 |
-
158646.466033000 87.975893266592
|
| 60 |
-
158646.473343000 87.98494098711389
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| 61 |
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158646.476931000 87.98494098711389
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| 62 |
-
158646.481028000 87.98494098711389
|
| 63 |
-
158646.486887000 87.98494098711389
|
| 64 |
-
158646.491022000 87.975893266592
|
| 65 |
-
158646.495991000 87.975893266592
|
| 66 |
-
158646.501583000 87.975893266592
|
| 67 |
-
158646.506010000 87.975893266592
|
| 68 |
-
158646.510983000 87.975893266592
|
| 69 |
-
158646.515992000 87.975893266592
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| 70 |
-
158646.522484000 87.975893266592
|
| 71 |
-
158646.525983000 87.975893266592
|
| 72 |
-
158646.530981000 87.975893266592
|
| 73 |
-
158646.537573000 87.975893266592
|
| 74 |
-
158646.540980000 87.975893266592
|
| 75 |
-
158646.545980000 87.975893266592
|
| 76 |
-
158646.550994000 87.975893266592
|
| 77 |
-
158646.556287000 87.975893266592
|
| 78 |
-
158646.560991000 87.975893266592
|
| 79 |
-
158646.566077000 87.975893266592
|
| 80 |
-
158646.572507000 87.975893266592
|
| 81 |
-
158646.576028000 87.975893266592
|
| 82 |
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158646.581844000 87.975893266592
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| 83 |
-
158646.586007000 87.975893266592
|
| 84 |
-
158646.590981000 87.98494098711389
|
| 85 |
-
158646.596075000 87.98494098711389
|
| 86 |
-
158646.602069000 87.975893266592
|
| 87 |
-
158646.606003000 87.975893266592
|
| 88 |
-
158646.610981000 87.975893266592
|
| 89 |
-
158646.616220000 87.975893266592
|
| 90 |
-
158646.624240000 87.98494098711389
|
| 91 |
-
158646.627881000 87.98494098711389
|
| 92 |
-
158646.630977000 87.98494098711389
|
| 93 |
-
158646.636452000 87.98494098711389
|
| 94 |
-
158646.641027000 87.98494098711389
|
| 95 |
-
158646.645997000 87.975893266592
|
| 96 |
-
158646.650988000 87.975893266592
|
| 97 |
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158646.656565000 87.975893266592
|
| 98 |
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158646.661068000 87.975893266592
|
| 99 |
-
158646.665987000 87.975893266592
|
| 100 |
-
158646.673326000 87.975893266592
|
| 101 |
-
158646.676931000 87.975893266592
|
| 102 |
-
158646.681591000 87.975893266592
|
| 103 |
-
158646.686018000 87.975893266592
|
| 104 |
-
158646.691011000 87.98494098711389
|
| 105 |
-
158646.695966000 87.98494098711389
|
| 106 |
-
158646.701571000 87.98494098711389
|
| 107 |
-
158646.705987000 87.975893266592
|
| 108 |
-
158646.710958000 87.975893266592
|
| 109 |
-
158646.715997000 87.975893266592
|
| 110 |
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158646.721653000 87.975893266592
|
| 111 |
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158646.725971000 87.975893266592
|
| 112 |
-
158646.730960000 87.975893266592
|
| 113 |
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158646.737614000 87.975893266592
|
| 114 |
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158646.740982000 87.975893266592
|
| 115 |
-
158646.745959000 87.975893266592
|
| 116 |
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158646.750989000 87.975893266592
|
| 117 |
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158646.756531000 87.98494098711389
|
| 118 |
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158646.760968000 87.98494098711389
|
| 119 |
-
158646.765962000 87.975893266592
|
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|
multi_sessions_20251119_182727/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: 765
|
| 19 |
-
均值融合 (都低速): 765
|
| 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 18:27:41
|
| 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_182727/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,460 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158646.173015
|
| 3 |
-
1,158646.189628
|
| 4 |
-
2,158646.208175
|
| 5 |
-
3,158646.222545
|
| 6 |
-
4,158646.240681
|
| 7 |
-
5,158646.256043
|
| 8 |
-
6,158646.272682
|
| 9 |
-
7,158646.289466
|
| 10 |
-
8,158646.307901
|
| 11 |
-
9,158646.323708
|
| 12 |
-
10,158646.341142
|
| 13 |
-
11,158646.355784
|
| 14 |
-
12,158646.3726
|
| 15 |
-
13,158646.389584
|
| 16 |
-
14,158646.408154
|
| 17 |
-
15,158646.422453
|
| 18 |
-
16,158646.440654
|
| 19 |
-
17,158646.456121
|
| 20 |
-
18,158646.472667
|
| 21 |
-
19,158646.48942
|
| 22 |
-
20,158646.507158
|
| 23 |
-
21,158646.523596
|
| 24 |
-
22,158646.539631
|
| 25 |
-
23,158646.555768
|
| 26 |
-
24,158646.572595
|
| 27 |
-
25,158646.589656
|
| 28 |
-
26,158646.608215
|
| 29 |
-
27,158646.62242
|
| 30 |
-
28,158646.640529
|
| 31 |
-
29,158646.656062
|
| 32 |
-
30,158646.672638
|
| 33 |
-
31,158646.68939
|
| 34 |
-
32,158646.707009
|
| 35 |
-
33,158646.723739
|
| 36 |
-
34,158646.73966
|
| 37 |
-
35,158646.755754
|
| 38 |
-
36,158646.772504
|
| 39 |
-
37,158646.789605
|
| 40 |
-
38,158646.808286
|
| 41 |
-
39,158646.822394
|
| 42 |
-
40,158646.840492
|
| 43 |
-
41,158646.856131
|
| 44 |
-
42,158646.872652
|
| 45 |
-
43,158646.889249
|
| 46 |
-
44,158646.908019
|
| 47 |
-
45,158646.922422
|
| 48 |
-
46,158646.940571
|
| 49 |
-
47,158646.955747
|
| 50 |
-
48,158646.97258
|
| 51 |
-
49,158646.989581
|
| 52 |
-
50,158647.008017
|
| 53 |
-
51,158647.023398
|
| 54 |
-
52,158647.040601
|
| 55 |
-
53,158647.055698
|
| 56 |
-
54,158647.072614
|
| 57 |
-
55,158647.089357
|
| 58 |
-
56,158647.108088
|
| 59 |
-
57,158647.122244
|
| 60 |
-
58,158647.140525
|
| 61 |
-
59,158647.15567
|
| 62 |
-
60,158647.172467
|
| 63 |
-
61,158647.189146
|
| 64 |
-
62,158647.208194
|
| 65 |
-
63,158647.222341
|
| 66 |
-
64,158647.240492
|
| 67 |
-
65,158647.255595
|
| 68 |
-
66,158647.272641
|
| 69 |
-
67,158647.289171
|
| 70 |
-
68,158647.30732
|
| 71 |
-
69,158647.32222
|
| 72 |
-
70,158647.340708
|
| 73 |
-
71,158647.355603
|
| 74 |
-
72,158647.37232
|
| 75 |
-
73,158647.389144
|
| 76 |
-
74,158647.408228
|
| 77 |
-
75,158647.422337
|
| 78 |
-
76,158647.439203
|
| 79 |
-
77,158647.455414
|
| 80 |
-
78,158647.472475
|
| 81 |
-
79,158647.489156
|
| 82 |
-
80,158647.507505
|
| 83 |
-
81,158647.522124
|
| 84 |
-
82,158647.540547
|
| 85 |
-
83,158647.555612
|
| 86 |
-
84,158647.572315
|
| 87 |
-
85,158647.589168
|
| 88 |
-
86,158647.608321
|
| 89 |
-
87,158647.622352
|
| 90 |
-
88,158647.639088
|
| 91 |
-
89,158647.655399
|
| 92 |
-
90,158647.672319
|
| 93 |
-
91,158647.689259
|
| 94 |
-
92,158647.7055
|
| 95 |
-
93,158647.721971
|
| 96 |
-
94,158647.740626
|
| 97 |
-
95,158647.755556
|
| 98 |
-
96,158647.772222
|
| 99 |
-
97,158647.789045
|
| 100 |
-
98,158647.808254
|
| 101 |
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|
multi_sessions_20251119_182727/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:944cbd57cb9a1320a0a98651c0389189070493e93277f849c25fa6360e9e0ca1
|
| 3 |
-
size 3686680
|
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|
multi_sessions_20251119_182727/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/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: 158646.175977s
|
| 6 |
-
Vive 第一帧时间戳: 1763548052.062397s
|
| 7 |
-
计算的 offset: -1763389405.886420s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.886420
|
| 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 18:27:41
|
| 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_182727/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_182727/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1551 +0,0 @@
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| 1 |
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timestamp,clamp
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158664.284032,87.46769010904983
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|
multi_sessions_20251119_182727/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1550 +0,0 @@
|
|
| 1 |
-
158664.284032000 87.46769010904983
|
| 2 |
-
158664.288991000 87.45858778057632
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| 3 |
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158664.294012000 87.45858778057632
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| 4 |
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158664.299739000 87.45858778057632
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| 5 |
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| 6 |
-
158664.309016000 87.45858778057632
|
| 7 |
-
158664.314004000 87.45858778057632
|
| 8 |
-
158664.318986000 87.45858778057632
|
| 9 |
-
158664.323987000 87.45858778057632
|
| 10 |
-
158664.328980000 87.46769010904983
|
| 11 |
-
158664.335882000 87.45858778057632
|
| 12 |
-
158664.338985000 87.45858778057632
|
| 13 |
-
158664.344052000 87.45858778057632
|
| 14 |
-
158664.351703000 87.45858778057632
|
| 15 |
-
158664.354870000 87.45858778057632
|
| 16 |
-
158664.359074000 87.45858778057632
|
| 17 |
-
158664.363964000 87.45858778057632
|
| 18 |
-
158664.369068000 87.45858778057632
|
| 19 |
-
158664.373965000 87.45858778057632
|
| 20 |
-
158664.378951000 87.45858778057632
|
| 21 |
-
158664.384113000 87.45858778057632
|
| 22 |
-
158664.388992000 87.45858778057632
|
| 23 |
-
158664.394061000 87.45858778057632
|
| 24 |
-
158664.399930000 87.45858778057632
|
| 25 |
-
158664.403991000 87.45858778057632
|
| 26 |
-
158664.409079000 87.45858778057632
|
| 27 |
-
158664.413974000 87.45858778057632
|
| 28 |
-
158664.418973000 87.45858778057632
|
| 29 |
-
158664.423962000 87.45858778057632
|
| 30 |
-
158664.428950000 87.45858778057632
|
| 31 |
-
158664.434523000 87.45858778057632
|
| 32 |
-
158664.438956000 87.45858778057632
|
| 33 |
-
158664.443982000 87.45858778057632
|
| 34 |
-
158664.449269000 87.45858778057632
|
| 35 |
-
158664.454488000 87.45858778057632
|
| 36 |
-
158664.458954000 87.45858778057632
|
| 37 |
-
158664.464081000 87.45858778057632
|
| 38 |
-
158664.468954000 87.45858778057632
|
| 39 |
-
158664.473963000 87.45858778057632
|
| 40 |
-
158664.478951000 87.45858778057632
|
| 41 |
-
158664.484157000 87.45858778057632
|
| 42 |
-
158664.489019000 87.45858778057632
|
| 43 |
-
158664.493988000 87.45858778057632
|
| 44 |
-
158664.499109000 87.46769010904983
|
| 45 |
-
158664.503955000 87.45858778057632
|
| 46 |
-
158664.508955000 87.45858778057632
|
| 47 |
-
158664.514040000 87.45858778057632
|
| 48 |
-
158664.518954000 87.45858778057632
|
| 49 |
-
158664.523955000 87.45858778057632
|
| 50 |
-
158664.528950000 87.45858778057632
|
| 51 |
-
158664.535630000 87.44948449742859
|
| 52 |
-
158664.538957000 87.45858778057632
|
| 53 |
-
158664.543959000 87.45858778057632
|
| 54 |
-
158664.551696000 87.45858778057632
|
| 55 |
-
158664.554834000 87.45858778057632
|
| 56 |
-
158664.559108000 87.45858778057632
|
| 57 |
-
158664.563933000 87.45858778057632
|
| 58 |
-
158664.569066000 87.45858778057632
|
| 59 |
-
158664.573970000 87.45858778057632
|
| 60 |
-
158664.579592000 87.45858778057632
|
| 61 |
-
158664.584151000 87.45858778057632
|
| 62 |
-
158664.588971000 87.45858778057632
|
| 63 |
-
158664.593948000 87.45858778057632
|
| 64 |
-
158664.599803000 87.45858778057632
|
| 65 |
-
158664.603926000 87.45858778057632
|
| 66 |
-
158664.608926000 87.45858778057632
|
| 67 |
-
158664.613938000 87.45858778057632
|
| 68 |
-
158664.619014000 87.45858778057632
|
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| 1476 |
-
158671.658426000 87.45858778057632
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| 1477 |
-
158671.663336000 87.45858778057632
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| 1478 |
-
158671.668199000 87.45858778057632
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| 1479 |
-
158671.673266000 87.45858778057632
|
| 1480 |
-
158671.682182000 87.44948449742859
|
| 1481 |
-
158671.685072000 87.44948449742859
|
| 1482 |
-
158671.688296000 87.44948449742859
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| 1483 |
-
158671.693540000 87.45858778057632
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| 1484 |
-
158671.698549000 87.44948449742859
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| 1485 |
-
158671.703274000 87.45858778057632
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| 1486 |
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158671.708183000 87.45858778057632
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| 1487 |
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158671.716275000 87.45858778057632
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| 1488 |
-
158671.720062000 87.45858778057632
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| 1489 |
-
158671.723190000 87.45858778057632
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| 1490 |
-
158671.728321000 87.45858778057632
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| 1491 |
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158671.733961000 87.46769010904983
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| 1492 |
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158671.738180000 87.45858778057632
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| 1493 |
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158671.743183000 87.45858778057632
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| 1494 |
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158671.749584000 87.45858778057632
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| 1495 |
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158671.753277000 87.45858778057632
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| 1496 |
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158671.758179000 87.45858778057632
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| 1497 |
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158671.763276000 87.45858778057632
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| 1498 |
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158671.768584000 87.45858778057632
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| 1499 |
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158671.773204000 87.45858778057632
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| 1500 |
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158671.778206000 87.45858778057632
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| 1501 |
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158671.783258000 87.45858778057632
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| 1502 |
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158671.788499000 87.44948449742859
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| 1503 |
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158671.793668000 87.45858778057632
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| 1504 |
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158671.798590000 87.45858778057632
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| 1505 |
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158671.803197000 87.45858778057632
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| 1506 |
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158671.808196000 87.45858778057632
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| 1507 |
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158671.816751000 87.45858778057632
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| 1508 |
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158671.820069000 87.45858778057632
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| 1509 |
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158671.823897000 87.45858778057632
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| 1510 |
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158671.828177000 87.45858778057632
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| 1511 |
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158671.834505000 87.45858778057632
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| 1512 |
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158671.838179000 87.45858778057632
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| 1513 |
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158671.843187000 87.45858778057632
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| 1514 |
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158671.849619000 87.45858778057632
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| 1515 |
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158671.853191000 87.45858778057632
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| 1516 |
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158671.858177000 87.45858778057632
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| 1517 |
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158671.863401000 87.45858778057632
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| 1518 |
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158671.868180000 87.45858778057632
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| 1519 |
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158671.873214000 87.45858778057632
|
| 1520 |
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158671.882149000 87.45858778057632
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| 1521 |
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158671.885048000 87.45858778057632
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| 1522 |
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158671.888742000 87.45858778057632
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| 1523 |
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158671.893614000 87.46769010904983
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| 1524 |
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158671.898288000 87.45858778057632
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| 1525 |
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158671.903162000 87.45858778057632
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| 1526 |
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158671.908184000 87.45858778057632
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| 1527 |
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158671.915189000 87.46769010904983
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| 1528 |
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158671.918163000 87.45858778057632
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| 1529 |
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158671.923171000 87.46769010904983
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| 1530 |
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158671.928165000 87.46769010904983
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| 1531 |
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158671.933809000 87.46769010904983
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| 1532 |
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158671.938168000 87.46769010904983
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| 1533 |
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158671.943180000 87.46769010904983
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| 1534 |
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158671.949019000 87.46769010904983
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| 1535 |
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158671.953248000 87.45858778057632
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| 1536 |
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158671.958185000 87.45858778057632
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| 1537 |
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158671.963466000 87.45858778057632
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| 1538 |
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158671.968524000 87.45858778057632
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| 1539 |
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158671.973462000 87.45858778057632
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| 1540 |
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158671.978274000 87.45858778057632
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| 1541 |
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158671.983632000 87.45858778057632
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| 1542 |
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158671.988248000 87.45858778057632
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| 1543 |
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158671.993232000 87.45858778057632
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| 1544 |
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158671.998189000 87.45858778057632
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| 1545 |
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158672.003241000 87.45858778057632
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| 1546 |
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158672.008166000 87.45858778057632
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| 1547 |
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158672.015159000 87.45858778057632
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| 1548 |
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158672.018169000 87.46769010904983
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| 1549 |
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158672.023166000 87.45858778057632
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| 1550 |
-
158672.028164000 87.46769010904983
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multi_sessions_20251119_182727/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: 775
|
| 19 |
-
均值融合 (都低速): 775
|
| 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 18:27:59
|
| 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_182727/session_002/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_182727/session_002/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_182727/session_002/RGB_Images/timestamps.csv
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|
multi_sessions_20251119_182727/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:c050f6f668bb83a273db381856f5252e4932724f580dd3e7371338c2ff1bdb9e
|
| 3 |
-
size 3576248
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|
multi_sessions_20251119_182727/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/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: 158664.283981s
|
| 6 |
-
Vive 第一帧时间戳: 1763548070.162514s
|
| 7 |
-
计算的 offset: -1763389405.878533s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.878533
|
| 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 18:27:59
|
| 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_182727/session_002/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
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multi_sessions_20251119_182727/session_003/Clamp_Data/clamp.csv
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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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|
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158688.001404,87.49499136526408
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multi_sessions_20251119_182727/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1353 +0,0 @@
|
|
| 1 |
-
158682.022308000 87.76753061726019
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| 2 |
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158682.029397000 87.76753061726019
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158682.032902000 87.75845985808992
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158682.037077000 87.75845985808992
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158682.042035000 87.75845985808992
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158682.047076000 87.76753061726019
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158682.052039000 87.76753061726019
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158682.077037000 87.76753061726019
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158682.081998000 87.76753061726019
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158682.106998000 87.76753061726019
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158682.113059000 87.75845985808992
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| 20 |
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158682.117056000 87.76753061726019
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| 21 |
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158682.122494000 87.76753061726019
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| 22 |
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158682.127502000 87.75845985808992
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| 23 |
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158682.132462000 87.75845985808992
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| 24 |
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158682.137011000 87.75845985808992
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| 25 |
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158682.142003000 87.75845985808992
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| 26 |
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158682.147502000 87.75845985808992
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| 27 |
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158682.152003000 87.75845985808992
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| 28 |
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158682.156990000 87.76753061726019
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| 29 |
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158682.162111000 87.76753061726019
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| 30 |
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158682.166995000 87.76753061726019
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| 31 |
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158682.172024000 87.76753061726019
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| 32 |
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158682.181081000 87.76753061726019
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158682.184920000 87.76753061726019
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| 34 |
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158682.188645000 87.75845985808992
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| 35 |
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158682.192154000 87.76753061726019
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158682.201995000 87.76753061726019
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| 38 |
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158682.207005000 87.76753061726019
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| 39 |
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158682.214211000 87.75845985808992
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| 40 |
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158682.217900000 87.75845985808992
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| 41 |
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158682.222276000 87.76753061726019
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| 42 |
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158682.229507000 87.76753061726019
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| 43 |
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158682.232873000 87.76753061726019
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| 44 |
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158682.236992000 87.76753061726019
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| 45 |
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158682.242094000 87.76753061726019
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| 46 |
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158682.247362000 87.76753061726019
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| 47 |
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158682.252003000 87.76753061726019
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| 48 |
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158682.256990000 87.76753061726019
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| 49 |
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158682.262035000 87.75845985808992
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| 50 |
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158682.266993000 87.75845985808992
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| 51 |
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158682.271971000 87.75845985808992
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| 52 |
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158682.280630000 87.76753061726019
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| 53 |
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158682.283847000 87.76753061726019
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| 54 |
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158682.287521000 87.76753061726019
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| 55 |
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158682.292145000 87.76753061726019
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| 56 |
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158682.296962000 87.76753061726019
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| 57 |
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158682.301973000 87.75845985808992
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| 58 |
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158682.306963000 87.76753061726019
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| 59 |
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158682.312968000 87.76753061726019
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| 60 |
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158682.316981000 87.76753061726019
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| 61 |
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158682.322467000 87.76753061726019
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| 62 |
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158682.327054000 87.75845985808992
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| 63 |
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158682.332497000 87.76753061726019
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| 64 |
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158682.336987000 87.76753061726019
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158682.341965000 87.76753061726019
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| 66 |
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158682.347552000 87.76753061726019
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| 67 |
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158682.351969000 87.76753061726019
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| 68 |
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158682.356958000 87.75845985808992
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| 69 |
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158682.362181000 87.75845985808992
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| 70 |
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158682.366960000 87.75845985808992
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158682.371986000 87.76753061726019
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| 72 |
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158682.381037000 87.76753061726019
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| 73 |
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158682.384868000 87.75845985808992
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158682.388721000 87.75845985808992
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158682.392214000 87.75845985808992
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| 76 |
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158682.396996000 87.75845985808992
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| 77 |
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158682.401962000 87.75845985808992
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| 79 |
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158682.413083000 87.75845985808992
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| 80 |
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158682.417060000 87.75845985808992
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| 81 |
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158682.422412000 87.75845985808992
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| 82 |
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158682.426997000 87.75845985808992
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| 84 |
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| 85 |
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158682.442493000 87.75845985808992
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| 86 |
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158682.447601000 87.75845985808992
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| 87 |
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158682.451971000 87.75845985808992
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| 88 |
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158682.456959000 87.75845985808992
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| 89 |
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158682.462115000 87.76753061726019
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| 90 |
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158682.467060000 87.75845985808992
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158682.471945000 87.76753061726019
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| 92 |
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158682.480536000 87.75845985808992
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158682.487370000 87.75845985808992
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158682.492009000 87.75845985808992
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158682.513761000 87.76753061726019
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158682.541943000 87.75845985808992
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158682.552040000 87.76753061726019
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158682.587861000 87.75845985808992
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158682.592132000 87.75845985808992
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multi_sessions_20251119_182727/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: 676
|
| 19 |
-
均值融合 (都低速): 676
|
| 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 18:28:16
|
| 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_182727/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,407 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158682.013568
|
| 3 |
-
1,158682.029626
|
| 4 |
-
2,158682.046358
|
| 5 |
-
3,158682.063456
|
| 6 |
-
4,158682.080217
|
| 7 |
-
5,158682.097276
|
| 8 |
-
6,158682.112538
|
| 9 |
-
7,158682.129679
|
| 10 |
-
8,158682.146797
|
| 11 |
-
9,158682.164824
|
| 12 |
-
10,158682.179271
|
| 13 |
-
11,158682.197495
|
| 14 |
-
12,158682.213546
|
| 15 |
-
13,158682.229697
|
| 16 |
-
14,158682.246608
|
| 17 |
-
15,158682.264
|
| 18 |
-
16,158682.279267
|
| 19 |
-
17,158682.297149
|
| 20 |
-
18,158682.312502
|
| 21 |
-
19,158682.329636
|
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-
20,158682.34685
|
| 23 |
-
21,158682.364816
|
| 24 |
-
22,158682.37923
|
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-
23,158682.397576
|
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-
24,158682.412382
|
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-
25,158682.4299
|
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-
26,158682.446862
|
| 29 |
-
27,158682.4642
|
| 30 |
-
28,158682.479259
|
| 31 |
-
29,158682.498012
|
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-
30,158682.513201
|
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31,158682.529271
|
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-
32,158682.546189
|
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-
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|
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-
34,158682.579239
|
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|
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-
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|
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|
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-
38,158682.646834
|
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-
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|
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|
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41,158682.697133
|
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|
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|
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-
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|
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-
45,158682.76392
|
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-
46,158682.779285
|
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-
47,158682.797038
|
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48,158682.812316
|
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-
49,158682.829861
|
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-
50,158682.846942
|
| 53 |
-
51,158682.864549
|
| 54 |
-
52,158682.879073
|
| 55 |
-
53,158682.897653
|
| 56 |
-
54,158682.912458
|
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-
55,158682.929515
|
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-
56,158682.946537
|
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-
57,158682.963892
|
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-
58,158682.980195
|
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-
59,158682.998167
|
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-
60,158683.012267
|
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-
61,158683.029673
|
| 64 |
-
62,158683.046342
|
| 65 |
-
63,158683.0636
|
| 66 |
-
64,158683.079006
|
| 67 |
-
65,158683.097048
|
| 68 |
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66,158683.112397
|
| 69 |
-
67,158683.129428
|
| 70 |
-
68,158683.146166
|
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-
69,158683.164007
|
| 72 |
-
70,158683.179375
|
| 73 |
-
71,158683.196833
|
| 74 |
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72,158683.212223
|
| 75 |
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73,158683.229288
|
| 76 |
-
74,158683.246369
|
| 77 |
-
75,158683.264512
|
| 78 |
-
76,158683.278872
|
| 79 |
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77,158683.296851
|
| 80 |
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78,158683.312587
|
| 81 |
-
79,158683.329473
|
| 82 |
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80,158683.346282
|
| 83 |
-
81,158683.363742
|
| 84 |
-
82,158683.380158
|
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-
83,158683.396968
|
| 86 |
-
84,158683.412255
|
| 87 |
-
85,158683.429274
|
| 88 |
-
86,158683.44647
|
| 89 |
-
87,158683.463894
|
| 90 |
-
88,158683.479053
|
| 91 |
-
89,158683.497076
|
| 92 |
-
90,158683.513266
|
| 93 |
-
91,158683.529311
|
| 94 |
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92,158683.546162
|
| 95 |
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93,158683.563701
|
| 96 |
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94,158683.579002
|
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95,158683.596866
|
| 98 |
-
96,158683.612241
|
| 99 |
-
97,158683.629265
|
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98,158683.646591
|
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-
99,158683.664277
|
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-
100,158683.679016
|
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101,158683.696708
|
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-
102,158683.71307
|
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103,158683.729366
|
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104,158683.746187
|
| 107 |
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105,158683.764187
|
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106,158683.778913
|
| 109 |
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107,158683.796869
|
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108,158683.812126
|
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109,158683.829252
|
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110,158683.846428
|
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111,158683.864353
|
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112,158683.878931
|
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113,158683.896583
|
| 116 |
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114,158683.912031
|
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-
115,158683.929421
|
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116,158683.946398
|
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117,158683.963717
|
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118,158683.978646
|
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119,158683.996887
|
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120,158684.012138
|
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121,158684.028865
|
| 124 |
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122,158684.046358
|
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123,158684.064122
|
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124,158684.079876
|
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125,158684.096975
|
| 128 |
-
126,158684.111948
|
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-
127,158684.129352
|
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128,158684.146264
|
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129,158684.163822
|
| 132 |
-
130,158684.178994
|
| 133 |
-
131,158684.196732
|
| 134 |
-
132,158684.212127
|
| 135 |
-
133,158684.229098
|
| 136 |
-
134,158684.246545
|
| 137 |
-
135,158684.264356
|
| 138 |
-
136,158684.278909
|
| 139 |
-
137,158684.295298
|
| 140 |
-
138,158684.31217
|
| 141 |
-
139,158684.329569
|
| 142 |
-
140,158684.346616
|
| 143 |
-
141,158684.364919
|
| 144 |
-
142,158684.378713
|
| 145 |
-
143,158684.39662
|
| 146 |
-
144,158684.412277
|
| 147 |
-
145,158684.429241
|
| 148 |
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146,158684.446221
|
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147,158684.462267
|
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148,158684.479043
|
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149,158684.49636
|
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150,158684.511991
|
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-
151,158684.528873
|
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152,158684.546116
|
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153,158684.562107
|
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154,158684.580051
|
| 157 |
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155,158684.59526
|
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156,158684.613181
|
| 159 |
-
157,158684.628925
|
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158,158684.646056
|
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159,158684.664013
|
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-
160,158684.679039
|
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161,158684.696422
|
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162,158684.711865
|
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163,158684.728843
|
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164,158684.746002
|
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165,158684.763944
|
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-
166,158684.778761
|
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-
167,158684.796739
|
| 170 |
-
168,158684.812275
|
| 171 |
-
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multi_sessions_20251119_182727/session_003/RGB_Images/video.mp4
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:f7206e4d0dfa36d78322090ef464599aeda9fb3a850b2b55a85dbc39a98e9b7f
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size 3314543
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multi_sessions_20251119_182727/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
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multi_sessions_20251119_182727/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: 158682.021978s
|
| 6 |
-
Vive 第一帧时间戳: 1763548087.902443s
|
| 7 |
-
计算的 offset: -1763389405.880465s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.880465
|
| 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 18:28:16
|
| 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_182727/session_003/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_182727/session_004/Clamp_Data/clamp.csv
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158705.439646,87.41306182041758
|
| 1385 |
-
158705.44461,87.41306182041758
|
| 1386 |
-
158705.449598,87.41306182041758
|
| 1387 |
-
158705.457011,87.41306182041758
|
| 1388 |
-
158705.460443,87.42216892110109
|
| 1389 |
-
158705.465455,87.42216892110109
|
| 1390 |
-
158705.469714,87.42216892110109
|
| 1391 |
-
158705.474624,87.42216892110109
|
| 1392 |
-
158705.479582,87.42216892110109
|
| 1393 |
-
158705.484572,87.42216892110109
|
| 1394 |
-
158705.490371,87.41306182041758
|
| 1395 |
-
158705.494573,87.41306182041758
|
| 1396 |
-
158705.499729,87.41306182041758
|
| 1397 |
-
158705.504919,87.41306182041758
|
| 1398 |
-
158705.510479,87.41306182041758
|
| 1399 |
-
158705.514579,87.41306182041758
|
| 1400 |
-
158705.519663,87.42216892110109
|
| 1401 |
-
158705.524657,87.42216892110109
|
| 1402 |
-
158705.529619,87.42216892110109
|
| 1403 |
-
158705.535292,87.42216892110109
|
| 1404 |
-
158705.540093,87.42216892110109
|
| 1405 |
-
158705.54461,87.42216892110109
|
| 1406 |
-
158705.549599,87.42216892110109
|
| 1407 |
-
158705.557037,87.42216892110109
|
| 1408 |
-
158705.560419,87.42216892110109
|
| 1409 |
-
158705.565211,87.42216892110109
|
| 1410 |
-
158705.56991,87.42216892110109
|
| 1411 |
-
158705.574665,87.42216892110109
|
| 1412 |
-
158705.579557,87.42216892110109
|
| 1413 |
-
158705.584545,87.42216892110109
|
| 1414 |
-
158705.59025,87.43127506757487
|
| 1415 |
-
158705.594552,87.43127506757487
|
| 1416 |
-
158705.599577,87.43127506757487
|
| 1417 |
-
158705.605004,87.43127506757487
|
| 1418 |
-
158705.610007,87.43127506757487
|
| 1419 |
-
158705.614596,87.43127506757487
|
| 1420 |
-
158705.619904,87.42216892110109
|
| 1421 |
-
158705.624699,87.42216892110109
|
| 1422 |
-
158705.62964,87.43127506757487
|
| 1423 |
-
158705.63535,87.42216892110109
|
| 1424 |
-
158705.639697,87.42216892110109
|
| 1425 |
-
158705.644559,87.42216892110109
|
| 1426 |
-
158705.649553,87.43127506757487
|
| 1427 |
-
158705.656238,87.43127506757487
|
| 1428 |
-
158705.659548,87.42216892110109
|
| 1429 |
-
158705.665046,87.42216892110109
|
| 1430 |
-
158705.669555,87.42216892110109
|
| 1431 |
-
158705.674969,87.43127506757487
|
| 1432 |
-
158705.679553,87.43127506757487
|
| 1433 |
-
158705.684543,87.43127506757487
|
| 1434 |
-
158705.690208,87.43127506757487
|
| 1435 |
-
158705.694547,87.43127506757487
|
| 1436 |
-
158705.699555,87.43127506757487
|
| 1437 |
-
158705.706753,87.43127506757487
|
| 1438 |
-
158705.71061,87.43127506757487
|
| 1439 |
-
158705.714549,87.43127506757487
|
| 1440 |
-
158705.71996,87.43127506757487
|
| 1441 |
-
158705.724716,87.43127506757487
|
| 1442 |
-
158705.729564,87.43127506757487
|
| 1443 |
-
158705.735874,87.43127506757487
|
| 1444 |
-
158705.739903,87.43127506757487
|
| 1445 |
-
158705.744531,87.43127506757487
|
| 1446 |
-
158705.749556,87.44038025972274
|
| 1447 |
-
158705.757506,87.43127506757487
|
| 1448 |
-
158705.760389,87.43127506757487
|
| 1449 |
-
158705.764793,87.43127506757487
|
| 1450 |
-
158705.769531,87.43127506757487
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|
multi_sessions_20251119_182727/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1449 +0,0 @@
|
|
| 1 |
-
158698.530342000 87.8128700315816
|
| 2 |
-
158698.536156000 87.8128700315816
|
| 3 |
-
158698.540442000 87.8128700315816
|
| 4 |
-
158698.545285000 87.8128700315816
|
| 5 |
-
158698.550370000 87.8128700315816
|
| 6 |
-
158698.557457000 87.8128700315816
|
| 7 |
-
158698.561156000 87.8128700315816
|
| 8 |
-
158698.565324000 87.8128700315816
|
| 9 |
-
158698.570297000 87.8128700315816
|
| 10 |
-
158698.575332000 87.8128700315816
|
| 11 |
-
158698.580264000 87.8128700315816
|
| 12 |
-
158698.585565000 87.8128700315816
|
| 13 |
-
158698.592948000 87.8128700315816
|
| 14 |
-
158698.596139000 87.8128700315816
|
| 15 |
-
158698.600342000 87.8128700315816
|
| 16 |
-
158698.605255000 87.8128700315816
|
| 17 |
-
158698.612158000 87.8128700315816
|
| 18 |
-
158698.615318000 87.8128700315816
|
| 19 |
-
158698.620258000 87.80380406664018
|
| 20 |
-
158698.625437000 87.8128700315816
|
| 21 |
-
158698.630264000 87.8128700315816
|
| 22 |
-
158698.635911000 87.80380406664018
|
| 23 |
-
158698.640301000 87.80380406664018
|
| 24 |
-
158698.645321000 87.80380406664018
|
| 25 |
-
158698.650266000 87.80380406664018
|
| 26 |
-
158698.657460000 87.8128700315816
|
| 27 |
-
158698.661125000 87.8128700315816
|
| 28 |
-
158698.665639000 87.8128700315816
|
| 29 |
-
158698.670264000 87.8128700315816
|
| 30 |
-
158698.675373000 87.8128700315816
|
| 31 |
-
158698.680265000 87.8128700315816
|
| 32 |
-
158698.685257000 87.8128700315816
|
| 33 |
-
158698.692605000 87.8128700315816
|
| 34 |
-
158698.696121000 87.80380406664018
|
| 35 |
-
158698.700728000 87.80380406664018
|
| 36 |
-
158698.705885000 87.80380406664018
|
| 37 |
-
158698.711814000 87.8128700315816
|
| 38 |
-
158698.715263000 87.8128700315816
|
| 39 |
-
158698.720266000 87.8128700315816
|
| 40 |
-
158698.725269000 87.8128700315816
|
| 41 |
-
158698.730262000 87.8128700315816
|
| 42 |
-
158698.735255000 87.8128700315816
|
| 43 |
-
158698.740351000 87.8128700315816
|
| 44 |
-
158698.745260000 87.8128700315816
|
| 45 |
-
158698.750270000 87.8128700315816
|
| 46 |
-
158698.758624000 87.80380406664018
|
| 47 |
-
158698.762127000 87.8128700315816
|
| 48 |
-
158698.765386000 87.8128700315816
|
| 49 |
-
158698.770283000 87.8128700315816
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multi_sessions_20251119_182727/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: 724
|
| 19 |
-
均值融合 (都低速): 724
|
| 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 18:28:33
|
| 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_182727/session_004/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/session_004/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/session_004/RGB_Images/timestamps.csv
DELETED
|
@@ -1,436 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158698.526612
|
| 3 |
-
1,158698.542498
|
| 4 |
-
2,158698.558934
|
| 5 |
-
3,158698.576567
|
| 6 |
-
4,158698.592401
|
| 7 |
-
5,158698.61139
|
| 8 |
-
6,158698.626519
|
| 9 |
-
7,158698.642061
|
| 10 |
-
8,158698.658041
|
| 11 |
-
9,158698.675684
|
| 12 |
-
10,158698.692041
|
| 13 |
-
11,158698.710949
|
| 14 |
-
12,158698.726318
|
| 15 |
-
13,158698.743258
|
| 16 |
-
14,158698.758978
|
| 17 |
-
15,158698.776712
|
| 18 |
-
16,158698.79237
|
| 19 |
-
17,158698.81225
|
| 20 |
-
18,158698.825219
|
| 21 |
-
19,158698.842143
|
| 22 |
-
20,158698.858048
|
| 23 |
-
21,158698.876584
|
| 24 |
-
22,158698.892206
|
| 25 |
-
23,158698.91106
|
| 26 |
-
24,158698.926453
|
| 27 |
-
25,158698.942636
|
| 28 |
-
26,158698.958837
|
| 29 |
-
27,158698.977273
|
| 30 |
-
28,158698.991938
|
| 31 |
-
29,158699.011129
|
| 32 |
-
30,158699.026344
|
| 33 |
-
31,158699.041907
|
| 34 |
-
32,158699.057939
|
| 35 |
-
33,158699.076147
|
| 36 |
-
34,158699.092078
|
| 37 |
-
35,158699.110977
|
| 38 |
-
36,158699.126379
|
| 39 |
-
37,158699.143428
|
| 40 |
-
38,158699.158907
|
| 41 |
-
39,158699.177107
|
| 42 |
-
40,158699.191943
|
| 43 |
-
41,158699.21129
|
| 44 |
-
42,158699.226433
|
| 45 |
-
43,158699.242748
|
| 46 |
-
44,158699.257925
|
| 47 |
-
45,158699.276582
|
| 48 |
-
46,158699.292171
|
| 49 |
-
47,158699.310882
|
| 50 |
-
48,158699.32493
|
| 51 |
-
49,158699.343056
|
| 52 |
-
50,158699.359013
|
| 53 |
-
51,158699.377123
|
| 54 |
-
52,158699.391972
|
| 55 |
-
53,158699.410354
|
| 56 |
-
54,158699.425174
|
| 57 |
-
55,158699.442212
|
| 58 |
-
56,158699.457901
|
| 59 |
-
57,158699.476201
|
| 60 |
-
58,158699.492129
|
| 61 |
-
59,158699.510981
|
| 62 |
-
60,158699.524952
|
| 63 |
-
61,158699.542554
|
| 64 |
-
62,158699.558983
|
| 65 |
-
63,158699.578164
|
| 66 |
-
64,158699.591438
|
| 67 |
-
65,158699.610088
|
| 68 |
-
66,158699.624737
|
| 69 |
-
67,158699.64221
|
| 70 |
-
68,158699.657919
|
| 71 |
-
69,158699.676378
|
| 72 |
-
70,158699.69202
|
| 73 |
-
71,158699.710978
|
| 74 |
-
72,158699.726325
|
| 75 |
-
73,158699.741764
|
| 76 |
-
74,158699.758873
|
| 77 |
-
75,158699.776693
|
| 78 |
-
76,158699.791077
|
| 79 |
-
77,158699.807662
|
| 80 |
-
78,158699.824825
|
| 81 |
-
79,158699.842297
|
| 82 |
-
80,158699.857923
|
| 83 |
-
81,158699.877103
|
| 84 |
-
82,158699.892159
|
| 85 |
-
83,158699.91106
|
| 86 |
-
84,158699.926459
|
| 87 |
-
85,158699.941829
|
| 88 |
-
86,158699.957739
|
| 89 |
-
87,158699.977408
|
| 90 |
-
88,158699.991864
|
| 91 |
-
89,158700.010565
|
| 92 |
-
90,158700.024794
|
| 93 |
-
91,158700.042879
|
| 94 |
-
92,158700.057888
|
| 95 |
-
93,158700.07529
|
| 96 |
-
94,158700.09112
|
| 97 |
-
95,158700.111116
|
| 98 |
-
96,158700.126284
|
| 99 |
-
97,158700.142008
|
| 100 |
-
98,158700.157651
|
| 101 |
-
99,158700.175785
|
| 102 |
-
100,158700.191931
|
| 103 |
-
101,158700.209964
|
| 104 |
-
102,158700.224629
|
| 105 |
-
103,158700.242837
|
| 106 |
-
104,158700.257863
|
| 107 |
-
105,158700.275284
|
| 108 |
-
106,158700.29206
|
| 109 |
-
107,158700.311135
|
| 110 |
-
108,158700.326219
|
| 111 |
-
109,158700.341808
|
| 112 |
-
110,158700.359116
|
| 113 |
-
111,158700.375004
|
| 114 |
-
112,158700.391773
|
| 115 |
-
113,158700.410564
|
| 116 |
-
114,158700.426047
|
| 117 |
-
115,158700.442542
|
| 118 |
-
116,158700.457818
|
| 119 |
-
117,158700.475051
|
| 120 |
-
118,158700.491529
|
| 121 |
-
119,158700.510977
|
| 122 |
-
120,158700.526393
|
| 123 |
-
121,158700.542975
|
| 124 |
-
122,158700.557487
|
| 125 |
-
123,158700.574921
|
| 126 |
-
124,158700.591926
|
| 127 |
-
125,158700.609628
|
| 128 |
-
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multi_sessions_20251119_182727/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:b93c07a64fe51129e6a0703c330916f75729edd4f68e4b854b93e809216efe07
|
| 3 |
-
size 3674962
|
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|
multi_sessions_20251119_182727/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/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: 158698.529979s
|
| 6 |
-
Vive 第一帧时间戳: 1763548104.412471s
|
| 7 |
-
计算的 offset: -1763389405.882492s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.882492
|
| 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 18:28:33
|
| 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_182727/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_182727/session_005/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1541 +0,0 @@
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timestamp,clamp
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|
multi_sessions_20251119_182727/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1540 +0,0 @@
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| 1 |
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158717.878237000 87.55866086116826
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158717.883245000 87.55866086116826
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158717.888303000 87.56775268056596
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158717.893234000 87.56775268056596
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158717.898240000 87.56775268056596
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158717.903256000 87.56775268056596
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158717.909329000 87.56775268056596
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158717.913234000 87.56775268056596
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158717.943241000 87.57684354389714
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158717.953777000 87.56775268056596
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158717.958235000 87.56775268056596
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158717.963216000 87.56775268056596
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158718.003226000 87.56775268056596
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158718.023218000 87.55866086116826
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158718.028262000 87.55866086116826
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158718.033291000 87.56775268056596
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158718.038412000 87.56775268056596
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158718.043220000 87.56775268056596
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158718.048296000 87.56775268056596
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158718.054681000 87.56775268056596
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158718.058220000 87.56775268056596
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158718.068344000 87.56775268056596
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158718.088271000 87.56775268056596
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158718.093217000 87.56775268056596
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158718.098222000 87.57684354389714
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158718.103400000 87.56775268056596
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158718.108306000 87.56775268056596
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158718.113216000 87.56775268056596
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158718.118746000 87.55866086116826
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158718.123528000 87.55866086116826
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158718.128326000 87.55866086116826
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158718.134709000 87.56775268056596
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158718.138465000 87.55866086116826
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158718.143242000 87.55866086116826
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158718.148226000 87.56775268056596
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158718.153911000 87.56775268056596
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158718.158218000 87.56775268056596
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158718.163269000 87.56775268056596
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158718.168285000 87.56775268056596
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158718.173302000 87.56775268056596
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158718.178212000 87.56775268056596
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| 62 |
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158718.183214000 87.57684354389714
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| 63 |
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158718.188472000 87.57684354389714
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| 64 |
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158718.193202000 87.57684354389714
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158718.198210000 87.56775268056596
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158718.204139000 87.56775268056596
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158718.208466000 87.55866086116826
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158718.213211000 87.55866086116826
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| 69 |
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158718.219185000 87.55866086116826
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| 70 |
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158718.223239000 87.55866086116826
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158718.228258000 87.56775268056596
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158718.233296000 87.56775268056596
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158718.238410000 87.56775268056596
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158718.243216000 87.56775268056596
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158718.248213000 87.56775268056596
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158718.258255000 87.56775268056596
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158718.293203000 87.56775268056596
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158718.303270000 87.56775268056596
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158718.309272000 87.56775268056596
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158718.313409000 87.56775268056596
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| 89 |
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158718.318350000 87.56775268056596
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158718.323277000 87.56775268056596
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| 91 |
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158718.328272000 87.56775268056596
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158718.333208000 87.56775268056596
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158718.338280000 87.56775268056596
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158718.343260000 87.56775268056596
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158718.368214000 87.56775268056596
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158718.388340000 87.56775268056596
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158718.398185000 87.56775268056596
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| 109 |
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| 111 |
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158718.428290000 87.56775268056596
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158723.628185000 42.42860840554001
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158723.632708000 43.670086130805196
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158723.647894000 50.661925075754404
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158723.657674000 56.93808654532696
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158723.669196000 66.03570704638571
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158723.672740000 69.49611689852395
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158723.678471000 72.82933639699127
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158723.682926000 74.02999813174497
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158723.687958000 77.43752655980231
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158723.692655000 80.2342226724428
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158723.697817000 82.9718811043973
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158723.703145000 85.19070091268004
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158723.719708000 87.43127506757487
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| 1507 |
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158725.407735000 87.40395376564047
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| 1508 |
-
158725.412844000 87.40395376564047
|
| 1509 |
-
158725.417670000 87.40395376564047
|
| 1510 |
-
158725.422485000 87.40395376564047
|
| 1511 |
-
158725.427551000 87.40395376564047
|
| 1512 |
-
158725.432486000 87.40395376564047
|
| 1513 |
-
158725.437692000 87.40395376564047
|
| 1514 |
-
158725.442548000 87.40395376564047
|
| 1515 |
-
158725.447508000 87.40395376564047
|
| 1516 |
-
158725.453388000 87.40395376564047
|
| 1517 |
-
158725.457531000 87.40395376564047
|
| 1518 |
-
158725.462486000 87.40395376564047
|
| 1519 |
-
158725.467741000 87.40395376564047
|
| 1520 |
-
158725.472488000 87.40395376564047
|
| 1521 |
-
158725.477490000 87.40395376564047
|
| 1522 |
-
158725.482550000 87.40395376564047
|
| 1523 |
-
158725.487759000 87.40395376564047
|
| 1524 |
-
158725.492483000 87.40395376564047
|
| 1525 |
-
158725.497508000 87.40395376564047
|
| 1526 |
-
158725.502541000 87.40395376564047
|
| 1527 |
-
158725.508443000 87.40395376564047
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| 1528 |
-
158725.512485000 87.41306182041758
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| 1529 |
-
158725.517593000 87.41306182041758
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| 1530 |
-
158725.522489000 87.40395376564047
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| 1531 |
-
158725.527507000 87.40395376564047
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| 1532 |
-
158725.533565000 87.40395376564047
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| 1533 |
-
158725.537499000 87.40395376564047
|
| 1534 |
-
158725.542472000 87.40395376564047
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| 1535 |
-
158725.547584000 87.41306182041758
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| 1536 |
-
158725.553334000 87.41306182041758
|
| 1537 |
-
158725.557461000 87.41306182041758
|
| 1538 |
-
158725.562464000 87.41306182041758
|
| 1539 |
-
158725.568580000 87.41306182041758
|
| 1540 |
-
158725.572467000 87.41306182041758
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multi_sessions_20251119_182727/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: 771
|
| 19 |
-
均值融合 (都低速): 771
|
| 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 18:28:53
|
| 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_182727/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,463 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
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379,158724.184574
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380,158724.204219
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381,158724.218763
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382,158724.237588
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383,158724.251281
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384,158724.269934
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385,158724.285281
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386,158724.30507
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387,158724.318239
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388,158724.337314
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389,158724.351697
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390,158724.37169
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392,158724.404995
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394,158724.438589
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395,158724.451612
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397,158724.486929
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398,158724.504132
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399,158724.518096
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400,158724.538415
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403,158724.586605
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404,158724.604952
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405,158724.619847
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406,158724.63904
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411,158724.719828
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416,158724.804753
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419,158724.851571
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421,158724.88507
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427,158724.987102
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428,158725.004288
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429,158725.020026
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430,158725.0393
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431,158725.051539
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|
multi_sessions_20251119_182727/session_005/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:38670d8fc3cce4946026312c692b7603fce562df600d0559278f8a81d382be2c
|
| 3 |
-
size 3786728
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|
multi_sessions_20251119_182727/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182727/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: 158717.873976s
|
| 6 |
-
Vive 第一帧时间戳: 1763548123.752388s
|
| 7 |
-
计算的 offset: -1763389405.878412s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.878412
|
| 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 18:28:53
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
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