Delete multi_sessions_20251119_191110
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- multi_sessions_20251119_191110/collection_summary.txt +0 -153
- multi_sessions_20251119_191110/session_001/Clamp_Data/clamp.csv +0 -1462
- multi_sessions_20251119_191110/session_001/Clamp_Data/clamp_data_tum.txt +0 -1461
- multi_sessions_20251119_191110/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_191110/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_191110/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_191110/session_001/RGB_Images/timestamps.csv +0 -440
- multi_sessions_20251119_191110/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_191110/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_191110/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_191110/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_191110/session_002/Clamp_Data/clamp.csv +0 -1376
- multi_sessions_20251119_191110/session_002/Clamp_Data/clamp_data_tum.txt +0 -1375
- multi_sessions_20251119_191110/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_191110/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_191110/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_191110/session_002/RGB_Images/timestamps.csv +0 -414
- multi_sessions_20251119_191110/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_191110/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_191110/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_191110/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_191110/session_003/Clamp_Data/clamp.csv +0 -1529
- multi_sessions_20251119_191110/session_003/Clamp_Data/clamp_data_tum.txt +0 -1528
- multi_sessions_20251119_191110/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_191110/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_191110/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_191110/session_003/RGB_Images/timestamps.csv +0 -459
- multi_sessions_20251119_191110/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_191110/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_191110/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_191110/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_191110/session_004/Clamp_Data/clamp.csv +0 -1773
- multi_sessions_20251119_191110/session_004/Clamp_Data/clamp_data_tum.txt +0 -1772
- multi_sessions_20251119_191110/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_191110/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_191110/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_191110/session_004/RGB_Images/timestamps.csv +0 -532
- multi_sessions_20251119_191110/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_191110/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_191110/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_191110/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_191110/session_005/Clamp_Data/clamp.csv +0 -1351
- multi_sessions_20251119_191110/session_005/Clamp_Data/clamp_data_tum.txt +0 -1350
- multi_sessions_20251119_191110/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_191110/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_191110/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_191110/session_005/RGB_Images/timestamps.csv +0 -406
- multi_sessions_20251119_191110/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_191110/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_191110/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_191110/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 19:11:11 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: 10
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会话间隔: 1秒
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摘要目录: ./multi_sessions_20251119_191110
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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 19:11:11 CST
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输出目录: ./multi_sessions_20251119_191110/session_001
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结束时间: 2025年 11月 19日 星期三 19:11:25 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_191110/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 19:11:27 CST
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输出目录: ./multi_sessions_20251119_191110/session_002
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结束时间: 2025年 11月 19日 星期三 19:11:39 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_191110/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 19:11:41 CST
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输出目录: ./multi_sessions_20251119_191110/session_003
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结束时间: 2025年 11月 19日 星期三 19:11:56 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_191110/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 19:11:57 CST
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输出目录: ./multi_sessions_20251119_191110/session_004
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结束时间: 2025年 11月 19日 星期三 19:12:13 CST
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持续时间: 16秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_191110/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 19:12:14 CST
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输出目录: ./multi_sessions_20251119_191110/session_005
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结束时间: 2025年 11月 19日 星期三 19:12:26 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_191110/session_005
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==========================================
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会话 6 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:12:28 CST
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输出目录: ./multi_sessions_20251119_191110/session_006
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结束时间: 2025年 11月 19日 星期三 19:12:43 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_191110/session_006
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==========================================
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会话 7 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:12:45 CST
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输出目录: ./multi_sessions_20251119_191110/session_007
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结束时间: 2025年 11月 19日 星期三 19:12:58 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_191110/session_007
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==========================================
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会话 8 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:13:00 CST
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输出目录: ./multi_sessions_20251119_191110/session_008
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结束时间: 2025年 11月 19日 星期三 19:13:15 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_191110/session_008
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==========================================
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会话 9 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:13:17 CST
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输出目录: ./multi_sessions_20251119_191110/session_009
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结束时间: 2025年 11月 19日 星期三 19:13:30 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_191110/session_009
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==========================================
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会话 10 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:13:32 CST
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输出目录: ./multi_sessions_20251119_191110/session_010
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结束时间: 2025年 11月 19日 星期三 19:13:51 CST
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持续时间: 19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_191110/session_010
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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 19:13:51 CST
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成功会话数: 10
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失败会话数: 0
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总计划会话数: 10
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实际完成会话数: 10
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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_191110/
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├─ session_001/
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├─ session_002/
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├─ session_003/
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├─ session_004/
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├─ session_005/
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├─ session_006/
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├─ session_007/
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├─ session_008/
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├─ session_009/
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├─ session_010/
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└─ collection_summary.txt
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multi_sessions_20251119_191110/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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161267.50748,87.54047435463723
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161274.727874,87.36751200791944
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| 1447 |
-
161274.732273,87.36751200791944
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| 1448 |
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161274.737274,87.36751200791944
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| 1449 |
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161274.743028,87.36751200791944
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| 1450 |
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161274.747729,87.35839918441702
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| 1451 |
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161274.752273,87.36751200791944
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| 1452 |
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161274.75728,87.36751200791944
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| 1453 |
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161274.764204,87.36751200791944
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| 1454 |
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161274.768035,87.36751200791944
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| 1455 |
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161274.772268,87.36751200791944
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| 1456 |
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161274.777398,87.36751200791944
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| 1457 |
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161274.783434,87.36751200791944
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| 1458 |
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161274.787401,87.36751200791944
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| 1459 |
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161274.792293,87.36751200791944
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| 1460 |
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161274.797798,87.36751200791944
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| 1461 |
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161274.802315,87.35839918441702
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| 1462 |
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|
multi_sessions_20251119_191110/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1461 +0,0 @@
|
|
| 1 |
-
161267.507480000 87.54047435463723
|
| 2 |
-
161267.512552000 87.53137966773579
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| 3 |
-
161267.517486000 87.54047435463723
|
| 4 |
-
161267.522553000 87.54047435463723
|
| 5 |
-
161267.527512000 87.54047435463723
|
| 6 |
-
161267.532524000 87.54047435463723
|
| 7 |
-
161267.537479000 87.53137966773579
|
| 8 |
-
161267.542739000 87.53137966773579
|
| 9 |
-
161267.547578000 87.53137966773579
|
| 10 |
-
161267.552478000 87.53137966773579
|
| 11 |
-
161267.557480000 87.53137966773579
|
| 12 |
-
161267.565431000 87.53137966773579
|
| 13 |
-
161267.569196000 87.54047435463723
|
| 14 |
-
161267.572474000 87.53137966773579
|
| 15 |
-
161267.577640000 87.53137966773579
|
| 16 |
-
161267.582956000 87.53137966773579
|
| 17 |
-
161267.587478000 87.53137966773579
|
| 18 |
-
161267.592502000 87.54047435463723
|
| 19 |
-
161267.599633000 87.54047435463723
|
| 20 |
-
161267.603256000 87.54047435463723
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| 21 |
-
161267.607477000 87.54047435463723
|
| 22 |
-
161267.612488000 87.54047435463723
|
| 23 |
-
161267.617482000 87.54047435463723
|
| 24 |
-
161267.622573000 87.54047435463723
|
| 25 |
-
161267.627819000 87.54047435463723
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| 26 |
-
161267.632502000 87.54047435463723
|
| 27 |
-
161267.637481000 87.54047435463723
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| 28 |
-
161267.642488000 87.54047435463723
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| 29 |
-
161267.647482000 87.54047435463723
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| 30 |
-
161267.652470000 87.54047435463723
|
| 31 |
-
161267.657477000 87.53137966773579
|
| 32 |
-
161267.664401000 87.54047435463723
|
| 33 |
-
161267.668231000 87.54047435463723
|
| 34 |
-
161267.672466000 87.54047435463723
|
| 35 |
-
161267.677714000 87.54047435463723
|
| 36 |
-
161267.683180000 87.53137966773579
|
| 37 |
-
161267.687503000 87.54047435463723
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| 38 |
-
161267.692485000 87.53137966773579
|
| 39 |
-
161267.699051000 87.53137966773579
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| 40 |
-
161267.702467000 87.53137966773579
|
| 41 |
-
161267.707474000 87.54047435463723
|
| 42 |
-
161267.712615000 87.54047435463723
|
| 43 |
-
161267.717480000 87.53137966773579
|
| 44 |
-
161267.722604000 87.53137966773579
|
| 45 |
-
161267.727582000 87.53137966773579
|
| 46 |
-
161267.732469000 87.53137966773579
|
| 47 |
-
161267.737472000 87.53137966773579
|
| 48 |
-
161267.742803000 87.53137966773579
|
| 49 |
-
161267.747499000 87.54047435463723
|
| 50 |
-
161267.752471000 87.54047435463723
|
| 51 |
-
161267.757476000 87.54047435463723
|
| 52 |
-
161267.765538000 87.54047435463723
|
| 53 |
-
161267.769189000 87.54047435463723
|
| 54 |
-
161267.772466000 87.54047435463723
|
| 55 |
-
161267.777685000 87.54047435463723
|
| 56 |
-
161267.782865000 87.54047435463723
|
| 57 |
-
161267.787471000 87.53137966773579
|
| 58 |
-
161267.792522000 87.53137966773579
|
| 59 |
-
161267.798984000 87.53137966773579
|
| 60 |
-
161267.802525000 87.53137966773579
|
| 61 |
-
161267.807477000 87.54047435463723
|
| 62 |
-
161267.812478000 87.54047435463723
|
| 63 |
-
161267.817887000 87.54047435463723
|
| 64 |
-
161267.823211000 87.54047435463723
|
| 65 |
-
161267.827533000 87.54047435463723
|
| 66 |
-
161267.832770000 87.54047435463723
|
| 67 |
-
161267.837474000 87.54047435463723
|
| 68 |
-
161267.842998000 87.54047435463723
|
| 69 |
-
161267.847640000 87.54047435463723
|
| 70 |
-
161267.852468000 87.54047435463723
|
| 71 |
-
161267.857481000 87.54047435463723
|
| 72 |
-
161267.864559000 87.54047435463723
|
| 73 |
-
161267.868209000 87.54047435463723
|
| 74 |
-
161267.872465000 87.54047435463723
|
| 75 |
-
161267.877958000 87.53137966773579
|
| 76 |
-
161267.883054000 87.53137966773579
|
| 77 |
-
161267.887552000 87.53137966773579
|
| 78 |
-
161267.892469000 87.54047435463723
|
| 79 |
-
161267.899101000 87.54047435463723
|
| 80 |
-
161267.902486000 87.54047435463723
|
| 81 |
-
161267.907465000 87.53137966773579
|
| 82 |
-
161267.912689000 87.53137966773579
|
| 83 |
-
161267.917653000 87.53137966773579
|
| 84 |
-
161267.923437000 87.53137966773579
|
| 85 |
-
161267.927533000 87.53137966773579
|
| 86 |
-
161267.932512000 87.54047435463723
|
| 87 |
-
161267.937470000 87.54047435463723
|
| 88 |
-
161267.942880000 87.53137966773579
|
| 89 |
-
161267.947520000 87.53137966773579
|
| 90 |
-
161267.952467000 87.53137966773579
|
| 91 |
-
161267.957471000 87.53137966773579
|
| 92 |
-
161267.965535000 87.54047435463723
|
| 93 |
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multi_sessions_20251119_191110/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: 731
|
| 19 |
-
均值融合 (都低速): 731
|
| 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 19:11:22
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
|
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|
multi_sessions_20251119_191110/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,440 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,161267.498466
|
| 3 |
-
1,161267.518274
|
| 4 |
-
2,161267.531008
|
| 5 |
-
3,161267.548833
|
| 6 |
-
4,161267.56479
|
| 7 |
-
5,161267.583114
|
| 8 |
-
6,161267.597382
|
| 9 |
-
7,161267.618418
|
| 10 |
-
8,161267.631146
|
| 11 |
-
9,161267.648756
|
| 12 |
-
10,161267.664696
|
| 13 |
-
11,161267.682587
|
| 14 |
-
12,161267.698416
|
| 15 |
-
13,161267.718522
|
| 16 |
-
14,161267.731063
|
| 17 |
-
15,161267.748927
|
| 18 |
-
16,161267.764895
|
| 19 |
-
17,161267.783059
|
| 20 |
-
18,161267.798034
|
| 21 |
-
19,161267.818001
|
| 22 |
-
20,161267.83142
|
| 23 |
-
21,161267.849421
|
| 24 |
-
22,161267.864795
|
| 25 |
-
23,161267.882455
|
| 26 |
-
24,161267.89846
|
| 27 |
-
25,161267.915566
|
| 28 |
-
26,161267.931152
|
| 29 |
-
27,161267.948967
|
| 30 |
-
28,161267.964894
|
| 31 |
-
29,161267.983076
|
| 32 |
-
30,161267.997426
|
| 33 |
-
31,161268.018518
|
| 34 |
-
32,161268.031211
|
| 35 |
-
33,161268.048839
|
| 36 |
-
34,161268.064664
|
| 37 |
-
35,161268.082903
|
| 38 |
-
36,161268.098408
|
| 39 |
-
37,161268.115563
|
| 40 |
-
38,161268.131032
|
| 41 |
-
39,161268.149019
|
| 42 |
-
40,161268.164707
|
| 43 |
-
41,161268.182533
|
| 44 |
-
42,161268.198155
|
| 45 |
-
43,161268.21812
|
| 46 |
-
44,161268.231296
|
| 47 |
-
45,161268.249185
|
| 48 |
-
46,161268.26477
|
| 49 |
-
47,161268.28295
|
| 50 |
-
48,161268.297246
|
| 51 |
-
49,161268.318416
|
| 52 |
-
50,161268.331043
|
| 53 |
-
51,161268.349048
|
| 54 |
-
52,161268.364621
|
| 55 |
-
53,161268.383025
|
| 56 |
-
54,161268.398108
|
| 57 |
-
55,161268.416172
|
| 58 |
-
56,161268.430674
|
| 59 |
-
57,161268.450371
|
| 60 |
-
58,161268.464954
|
| 61 |
-
59,161268.483299
|
| 62 |
-
60,161268.498648
|
| 63 |
-
61,161268.517911
|
| 64 |
-
62,161268.531026
|
| 65 |
-
63,161268.549133
|
| 66 |
-
64,161268.564304
|
| 67 |
-
65,161268.58312
|
| 68 |
-
66,161268.598475
|
| 69 |
-
67,161268.616189
|
| 70 |
-
68,161268.63062
|
| 71 |
-
69,161268.650534
|
| 72 |
-
70,161268.66475
|
| 73 |
-
71,161268.68322
|
| 74 |
-
72,161268.698581
|
| 75 |
-
73,161268.715391
|
| 76 |
-
74,161268.730944
|
| 77 |
-
75,161268.748936
|
| 78 |
-
76,161268.764318
|
| 79 |
-
77,161268.782901
|
| 80 |
-
78,161268.798511
|
| 81 |
-
79,161268.816267
|
| 82 |
-
80,161268.830545
|
| 83 |
-
81,161268.850263
|
| 84 |
-
82,161268.864961
|
| 85 |
-
83,161268.883208
|
| 86 |
-
84,161268.898595
|
| 87 |
-
85,161268.917665
|
| 88 |
-
86,161268.930957
|
| 89 |
-
87,161268.948979
|
| 90 |
-
88,161268.964681
|
| 91 |
-
89,161268.982785
|
| 92 |
-
90,161268.997998
|
| 93 |
-
91,161269.015043
|
| 94 |
-
92,161269.030563
|
| 95 |
-
93,161269.050386
|
| 96 |
-
94,161269.064892
|
| 97 |
-
95,161269.083476
|
| 98 |
-
96,161269.09746
|
| 99 |
-
97,161269.118016
|
| 100 |
-
98,161269.130939
|
| 101 |
-
99,161269.149011
|
| 102 |
-
100,161269.164314
|
| 103 |
-
101,161269.182149
|
| 104 |
-
102,161269.197971
|
| 105 |
-
103,161269.218025
|
| 106 |
-
104,161269.230686
|
| 107 |
-
105,161269.250572
|
| 108 |
-
106,161269.264912
|
| 109 |
-
107,161269.281966
|
| 110 |
-
108,161269.297141
|
| 111 |
-
109,161269.318049
|
| 112 |
-
110,161269.331081
|
| 113 |
-
111,161269.349677
|
| 114 |
-
112,161269.363758
|
| 115 |
-
113,161269.381171
|
| 116 |
-
114,161269.398113
|
| 117 |
-
115,161269.415015
|
| 118 |
-
116,161269.43034
|
| 119 |
-
117,161269.451295
|
| 120 |
-
118,161269.46506
|
| 121 |
-
119,161269.481548
|
| 122 |
-
120,161269.497029
|
| 123 |
-
121,161269.517953
|
| 124 |
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multi_sessions_20251119_191110/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:7dfa3d0e581e0281527f7edbe618e33b081823cacf0a49e8ddb96b2f751d79f3
|
| 3 |
-
size 3499422
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|
multi_sessions_20251119_191110/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/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: 161267.509793s
|
| 6 |
-
Vive 第一帧时间戳: 1763550673.387562s
|
| 7 |
-
计算的 offset: -1763389405.877769s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.877769
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 19:11:22
|
| 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_191110/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_191110/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1376 +0,0 @@
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timestamp,clamp
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161282.357262,87.5131874272411
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|
| 1279 |
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161288.745089,87.44038025972274
|
| 1280 |
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161288.748523,87.44038025972274
|
| 1281 |
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161288.752687,87.44038025972274
|
| 1282 |
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161288.758606,87.44038025972274
|
| 1283 |
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161288.762387,87.44038025972274
|
| 1284 |
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161288.766806,87.44038025972274
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| 1285 |
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161288.771808,87.44038025972274
|
| 1286 |
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161288.778525,87.44948449742859
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161288.78186,87.44948449742859
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| 1288 |
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161288.786818,87.44948449742859
|
| 1289 |
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161288.794377,87.44038025972274
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161288.797556,87.44038025972274
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161288.801804,87.44038025972274
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161288.806824,87.44038025972274
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161288.811922,87.44038025972274
|
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161288.81681,87.44038025972274
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161288.822805,87.44948449742859
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161288.826864,87.44948449742859
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161288.831807,87.44948449742859
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161288.836809,87.44948449742859
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161288.84333,87.44038025972274
|
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161288.846807,87.44038025972274
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161288.851813,87.44038025972274
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161288.85689,87.44038025972274
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161288.861805,87.44038025972274
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161288.866796,87.44038025972274
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161288.871793,87.44948449742859
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161288.877264,87.44948449742859
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161288.881801,87.44038025972274
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161288.886865,87.44038025972274
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161288.891828,87.44038025972274
|
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161288.896802,87.44038025972274
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161288.906807,87.44038025972274
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161288.911884,87.43127506757487
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161288.916815,87.44038025972274
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161288.922726,87.44038025972274
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161288.931796,87.44038025972274
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161288.945161,87.44038025972274
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161288.948516,87.44948449742859
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161288.952782,87.44948449742859
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161288.95849,87.44948449742859
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161288.962197,87.44948449742859
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161288.966796,87.44948449742859
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| 1325 |
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161288.971823,87.44948449742859
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161288.978475,87.44948449742859
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161288.981845,87.44948449742859
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| 1328 |
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161288.986804,87.44948449742859
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| 1329 |
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161288.994255,87.44948449742859
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161288.997611,87.44948449742859
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161289.001823,87.44038025972274
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161289.011864,87.44038025972274
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161289.022842,87.44038025972274
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161289.026993,87.44948449742859
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161289.031799,87.44948449742859
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161289.036799,87.44948449742859
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161289.04445,87.44948449742859
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161289.047512,87.44948449742859
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161289.051801,87.44948449742859
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161289.058793,87.44948449742859
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161289.063404,87.44038025972274
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161289.066797,87.44038025972274
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161289.071778,87.44038025972274
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161289.078456,87.44038025972274
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161289.081788,87.44948449742859
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| 1348 |
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161289.086792,87.44038025972274
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| 1349 |
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161289.093371,87.44948449742859
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| 1350 |
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161289.096794,87.44038025972274
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161289.102068,87.44038025972274
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161289.107309,87.44038025972274
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161289.112038,87.44038025972274
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161289.116846,87.44038025972274
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161289.122201,87.44038025972274
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| 1356 |
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161289.126826,87.44038025972274
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161289.131781,87.44038025972274
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| 1358 |
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161289.137049,87.44038025972274
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| 1359 |
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161289.142805,87.44038025972274
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| 1360 |
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161289.146784,87.44038025972274
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161289.151786,87.44948449742859
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| 1362 |
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161289.157009,87.44948449742859
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| 1363 |
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161289.162124,87.44948449742859
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| 1364 |
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161289.166781,87.44948449742859
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| 1365 |
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161289.171799,87.44948449742859
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| 1366 |
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161289.177987,87.44948449742859
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| 1367 |
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161289.181781,87.44948449742859
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| 1368 |
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161289.186795,87.44948449742859
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| 1369 |
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161289.191885,87.44948449742859
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| 1370 |
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161289.197462,87.44948449742859
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| 1371 |
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161289.20212,87.44948449742859
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| 1372 |
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161289.20689,87.44948449742859
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| 1373 |
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161289.211821,87.44948449742859
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| 1374 |
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161289.216788,87.44948449742859
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| 1375 |
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161289.222162,87.44948449742859
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161289.226968,87.44948449742859
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|
multi_sessions_20251119_191110/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1375 +0,0 @@
|
|
| 1 |
-
161282.357262000 87.5131874272411
|
| 2 |
-
161282.363335000 87.5131874272411
|
| 3 |
-
161282.366957000 87.5131874272411
|
| 4 |
-
161282.371897000 87.50408987387988
|
| 5 |
-
161282.377202000 87.5131874272411
|
| 6 |
-
161282.381926000 87.50408987387988
|
| 7 |
-
161282.386907000 87.5131874272411
|
| 8 |
-
161282.391924000 87.50408987387988
|
| 9 |
-
161282.397677000 87.50408987387988
|
| 10 |
-
161282.402246000 87.50408987387988
|
| 11 |
-
161282.406898000 87.50408987387988
|
| 12 |
-
161282.412524000 87.5131874272411
|
| 13 |
-
161282.416913000 87.50408987387988
|
| 14 |
-
161282.422403000 87.5131874272411
|
| 15 |
-
161282.427464000 87.5131874272411
|
| 16 |
-
161282.431901000 87.5131874272411
|
| 17 |
-
161282.436986000 87.5131874272411
|
| 18 |
-
161282.442403000 87.50408987387988
|
| 19 |
-
161282.446916000 87.50408987387988
|
| 20 |
-
161282.451916000 87.5131874272411
|
| 21 |
-
161282.456904000 87.5131874272411
|
| 22 |
-
161282.462970000 87.5131874272411
|
| 23 |
-
161282.466904000 87.5131874272411
|
| 24 |
-
161282.471947000 87.5131874272411
|
| 25 |
-
161282.476909000 87.5131874272411
|
| 26 |
-
161282.482496000 87.5131874272411
|
| 27 |
-
161282.486906000 87.5131874272411
|
| 28 |
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161282.494548000 87.5131874272411
|
| 29 |
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161282.497637000 87.5131874272411
|
| 30 |
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161282.501899000 87.5131874272411
|
| 31 |
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161282.506901000 87.5131874272411
|
| 32 |
-
161282.512243000 87.50408987387988
|
| 33 |
-
161282.516913000 87.50408987387988
|
| 34 |
-
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multi_sessions_20251119_191110/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: 687
|
| 19 |
-
均值融合 (都低速): 687
|
| 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 19:11:36
|
| 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_191110/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,414 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,161282.349211
|
| 3 |
-
1,161282.361322
|
| 4 |
-
2,161282.380017
|
| 5 |
-
3,161282.394693
|
| 6 |
-
4,161282.413068
|
| 7 |
-
5,161282.429704
|
| 8 |
-
6,161282.447756
|
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7,161282.461424
|
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8,161282.482618
|
| 11 |
-
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|
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10,161282.512783
|
| 13 |
-
11,161282.528432
|
| 14 |
-
12,161282.549326
|
| 15 |
-
13,161282.561146
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-
14,161282.584953
|
| 17 |
-
15,161282.597574
|
| 18 |
-
16,161282.612987
|
| 19 |
-
17,161282.629517
|
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-
18,161282.646856
|
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-
19,161282.661494
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-
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|
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21,161282.696962
|
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-
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|
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23,161282.729611
|
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-
24,161282.749191
|
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|
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|
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-
27,161282.794762
|
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28,161282.812544
|
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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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|
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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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59,161283.329295
|
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61,161283.361221
|
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63,161283.394273
|
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64,161283.416168
|
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|
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|
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67,161283.460866
|
| 70 |
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68,161283.480028
|
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69,161283.49437
|
| 72 |
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70,161283.515507
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71,161283.528033
|
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72,161283.549075
|
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73,161283.56132
|
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|
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75,161283.59448
|
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76,161283.612583
|
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77,161283.628193
|
| 80 |
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78,161283.647195
|
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-
79,161283.660874
|
| 82 |
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80,161283.679738
|
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81,161283.694373
|
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82,161283.712617
|
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83,161283.727821
|
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84,161283.747438
|
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85,161283.761074
|
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86,161283.779646
|
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87,161283.794289
|
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|
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90,161283.84867
|
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91,161283.861156
|
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92,161283.882524
|
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93,161283.894797
|
| 96 |
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94,161283.912705
|
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95,161283.929276
|
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96,161283.94689
|
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97,161283.961214
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98,161283.979442
|
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99,161283.996504
|
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100,161284.012863
|
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101,161284.029549
|
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102,161284.046325
|
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|
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104,161284.079438
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106,161284.112674
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107,161284.12945
|
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|
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111,161284.194005
|
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112,161284.212723
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114,161284.246658
|
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115,161284.260708
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116,161284.279405
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117,161284.29447
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118,161284.312565
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119,161284.329341
|
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|
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122,161284.380939
|
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123,161284.394216
|
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124,161284.412663
|
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125,161284.429347
|
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126,161284.446317
|
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127,161284.461074
|
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128,161284.479175
|
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129,161284.496438
|
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130,161284.512118
|
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131,161284.529328
|
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132,161284.546176
|
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133,161284.561372
|
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134,161284.578775
|
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135,161284.596647
|
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136,161284.611882
|
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137,161284.629275
|
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138,161284.648245
|
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|
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|
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|
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|
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|
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152,161284.879147
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|
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|
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|
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187,161285.460666
|
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190,161285.512594
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|
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multi_sessions_20251119_191110/session_002/RGB_Images/video.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:d4ff1e9f06b2f8563dc7c44fdf2283327950621f22f4f58749aecd117e63d81b
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size 3336530
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multi_sessions_20251119_191110/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
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multi_sessions_20251119_191110/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: 161282.357772s
|
| 6 |
-
Vive 第一帧时间戳: 1763550688.237383s
|
| 7 |
-
计算的 offset: -1763389405.879611s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.879611
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 19:11:36
|
| 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_191110/session_002/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_191110/session_003/Clamp_Data/clamp.csv
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timestamp,clamp
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161304.786253,87.130269045409
|
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|
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161304.796242,87.130269045409
|
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161304.802534,87.13940566892363
|
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161304.8064,87.13940566892363
|
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161304.81124,87.13940566892363
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161304.81625,87.130269045409
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multi_sessions_20251119_191110/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1528 +0,0 @@
|
|
| 1 |
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161297.966207000 87.57684354389714
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multi_sessions_20251119_191110/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: 764
|
| 19 |
-
均值融合 (都低速): 764
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 19:11:53
|
| 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_191110/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,459 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,161297.959164
|
| 3 |
-
1,161297.977397
|
| 4 |
-
2,161297.991185
|
| 5 |
-
3,161298.008609
|
| 6 |
-
4,161298.026755
|
| 7 |
-
5,161298.043185
|
| 8 |
-
6,161298.058645
|
| 9 |
-
7,161298.075176
|
| 10 |
-
8,161298.091516
|
| 11 |
-
9,161298.109012
|
| 12 |
-
10,161298.126682
|
| 13 |
-
11,161298.143319
|
| 14 |
-
12,161298.158894
|
| 15 |
-
13,161298.175393
|
| 16 |
-
14,161298.191635
|
| 17 |
-
15,161298.208799
|
| 18 |
-
16,161298.226453
|
| 19 |
-
17,161298.242969
|
| 20 |
-
18,161298.258521
|
| 21 |
-
19,161298.275194
|
| 22 |
-
20,161298.291525
|
| 23 |
-
21,161298.30906
|
| 24 |
-
22,161298.325233
|
| 25 |
-
23,161298.343168
|
| 26 |
-
24,161298.358161
|
| 27 |
-
25,161298.375421
|
| 28 |
-
26,161298.391397
|
| 29 |
-
27,161298.408792
|
| 30 |
-
28,161298.426616
|
| 31 |
-
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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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|
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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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|
| 45 |
-
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|
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-
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|
| 47 |
-
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|
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|
| 49 |
-
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|
| 50 |
-
48,161298.759129
|
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-
49,161298.775845
|
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|
| 53 |
-
51,161298.808713
|
| 54 |
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52,161298.826599
|
| 55 |
-
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|
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|
| 57 |
-
55,161298.875041
|
| 58 |
-
56,161298.891407
|
| 59 |
-
57,161298.908753
|
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58,161298.92659
|
| 61 |
-
59,161298.94411
|
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60,161298.961673
|
| 63 |
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|
| 64 |
-
62,161298.993478
|
| 65 |
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63,161299.0087
|
| 66 |
-
64,161299.024592
|
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65,161299.042477
|
| 68 |
-
66,161299.060221
|
| 69 |
-
67,161299.075043
|
| 70 |
-
68,161299.091233
|
| 71 |
-
69,161299.109858
|
| 72 |
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70,161299.126299
|
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71,161299.144099
|
| 74 |
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72,161299.158713
|
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73,161299.177108
|
| 76 |
-
74,161299.193061
|
| 77 |
-
75,161299.208692
|
| 78 |
-
76,161299.22655
|
| 79 |
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77,161299.242971
|
| 80 |
-
78,161299.258678
|
| 81 |
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79,161299.275043
|
| 82 |
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80,161299.291381
|
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81,161299.309929
|
| 84 |
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82,161299.326419
|
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-
83,161299.344313
|
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84,161299.358656
|
| 87 |
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85,161299.375992
|
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86,161299.392989
|
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87,161299.408626
|
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88,161299.426401
|
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|
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|
| 93 |
-
91,161299.474992
|
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|
| 95 |
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93,161299.508531
|
| 96 |
-
94,161299.526379
|
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95,161299.543303
|
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96,161299.55822
|
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97,161299.576988
|
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98,161299.592941
|
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99,161299.608694
|
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100,161299.626277
|
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101,161299.642934
|
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102,161299.658554
|
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|
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|
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|
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|
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107,161299.742843
|
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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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115,161299.875184
|
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116,161299.891459
|
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|
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118,161299.924778
|
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|
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120,161299.959754
|
| 123 |
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121,161299.974894
|
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|
| 125 |
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123,161300.008819
|
| 126 |
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124,161300.025049
|
| 127 |
-
125,161300.041299
|
| 128 |
-
126,161300.05971
|
| 129 |
-
127,161300.075112
|
| 130 |
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128,161300.091351
|
| 131 |
-
129,161300.108557
|
| 132 |
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130,161300.124698
|
| 133 |
-
131,161300.142448
|
| 134 |
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132,161300.158306
|
| 135 |
-
133,161300.174878
|
| 136 |
-
134,161300.191103
|
| 137 |
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135,161300.208739
|
| 138 |
-
136,161300.224727
|
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137,161300.241943
|
| 140 |
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138,161300.25974
|
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139,161300.275753
|
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|
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|
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|
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143,161300.341159
|
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144,161300.359663
|
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|
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|
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147,161300.408767
|
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|
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|
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150,161300.459685
|
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151,161300.476086
|
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152,161300.491584
|
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153,161300.508525
|
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154,161300.524751
|
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155,161300.540959
|
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156,161300.559948
|
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|
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158,161300.591179
|
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multi_sessions_20251119_191110/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:24c2fd1c81f9f14506f44cd80285cd214b60c7aea41014c32075508efcf9265c
|
| 3 |
-
size 3626549
|
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|
multi_sessions_20251119_191110/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/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: 161297.969777s
|
| 6 |
-
Vive 第一帧时间戳: 1763550703.847540s
|
| 7 |
-
计算的 offset: -1763389405.877763s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.877763
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 19:11:53
|
| 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_191110/session_003/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/session_004/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1773 +0,0 @@
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timestamp,clamp
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|
multi_sessions_20251119_191110/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1772 +0,0 @@
|
|
| 1 |
-
161313.060866000 87.84006217078714
|
| 2 |
-
161313.065872000 87.84006217078714
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| 3 |
-
161313.072363000 87.84006217078714
|
| 4 |
-
161313.075872000 87.84006217078714
|
| 5 |
-
161313.080967000 87.84006217078714
|
| 6 |
-
161313.086047000 87.84006217078714
|
| 7 |
-
161313.090875000 87.84006217078714
|
| 8 |
-
161313.095867000 87.84006217078714
|
| 9 |
-
161313.101134000 87.84006217078714
|
| 10 |
-
161313.105876000 87.84006217078714
|
| 11 |
-
161313.110866000 87.83099908377069
|
| 12 |
-
161313.116087000 87.84006217078714
|
| 13 |
-
161313.123156000 87.83099908377069
|
| 14 |
-
161313.126591000 87.84006217078714
|
| 15 |
-
161313.130864000 87.83099908377069
|
| 16 |
-
161313.135913000 87.83099908377069
|
| 17 |
-
161313.141066000 87.84006217078714
|
| 18 |
-
161313.145901000 87.84006217078714
|
| 19 |
-
161313.150841000 87.83099908377069
|
| 20 |
-
161313.157043000 87.84006217078714
|
| 21 |
-
161313.160837000 87.83099908377069
|
| 22 |
-
161313.165841000 87.83099908377069
|
| 23 |
-
161313.171770000 87.83099908377069
|
| 24 |
-
161313.176025000 87.84006217078714
|
| 25 |
-
161313.181325000 87.84006217078714
|
| 26 |
-
161313.185874000 87.84006217078714
|
| 27 |
-
161313.190838000 87.84006217078714
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| 28 |
-
161313.195871000 87.84006217078714
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| 29 |
-
161313.200851000 87.84006217078714
|
| 30 |
-
161313.206135000 87.84006217078714
|
| 31 |
-
161313.210844000 87.84006217078714
|
| 32 |
-
161313.216006000 87.84006217078714
|
| 33 |
-
161313.222407000 87.83099908377069
|
| 34 |
-
161313.225841000 87.83099908377069
|
| 35 |
-
161313.231230000 87.83099908377069
|
| 36 |
-
161313.235987000 87.83099908377069
|
| 37 |
-
161313.240856000 87.83099908377069
|
| 38 |
-
161313.245841000 87.83099908377069
|
| 39 |
-
161313.250839000 87.83099908377069
|
| 40 |
-
161313.256298000 87.83099908377069
|
| 41 |
-
161313.260837000 87.84006217078714
|
| 42 |
-
161313.265860000 87.84006217078714
|
| 43 |
-
161313.273260000 87.84006217078714
|
| 44 |
-
161313.276561000 87.83099908377069
|
| 45 |
-
161313.281037000 87.84006217078714
|
| 46 |
-
161313.285875000 87.84006217078714
|
| 47 |
-
161313.290841000 87.84006217078714
|
| 48 |
-
161313.295842000 87.84006217078714
|
| 49 |
-
161313.301160000 87.83099908377069
|
| 50 |
-
161313.305904000 87.83099908377069
|
| 51 |
-
161313.310843000 87.83099908377069
|
| 52 |
-
161313.315845000 87.83099908377069
|
| 53 |
-
161313.322138000 87.84006217078714
|
| 54 |
-
161313.325841000 87.84006217078714
|
| 55 |
-
161313.331118000 87.83099908377069
|
| 56 |
-
161313.335856000 87.83099908377069
|
| 57 |
-
161313.341428000 87.83099908377069
|
| 58 |
-
161313.345842000 87.83099908377069
|
| 59 |
-
161313.350943000 87.83099908377069
|
| 60 |
-
161313.356505000 87.84006217078714
|
| 61 |
-
161313.360918000 87.84006217078714
|
| 62 |
-
161313.365843000 87.84006217078714
|
| 63 |
-
161313.371590000 87.84006217078714
|
| 64 |
-
161313.375935000 87.84006217078714
|
| 65 |
-
161313.381379000 87.84006217078714
|
| 66 |
-
161313.385914000 87.84006217078714
|
| 67 |
-
161313.390821000 87.83099908377069
|
| 68 |
-
161313.395820000 87.83099908377069
|
| 69 |
-
161313.401381000 87.83099908377069
|
| 70 |
-
161313.406157000 87.83099908377069
|
| 71 |
-
161313.410816000 87.83099908377069
|
| 72 |
-
161313.415820000 87.83099908377069
|
| 73 |
-
161313.422491000 87.83099908377069
|
| 74 |
-
161313.425816000 87.84006217078714
|
| 75 |
-
161313.430992000 87.84006217078714
|
| 76 |
-
161313.435907000 87.84006217078714
|
| 77 |
-
161313.440821000 87.84006217078714
|
| 78 |
-
161313.445819000 87.83099908377069
|
| 79 |
-
161313.450875000 87.83099908377069
|
| 80 |
-
161313.456388000 87.83099908377069
|
| 81 |
-
161313.460832000 87.84006217078714
|
| 82 |
-
161313.465833000 87.84006217078714
|
| 83 |
-
161313.472648000 87.84006217078714
|
| 84 |
-
161313.475819000 87.84006217078714
|
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161318.704100000 41.111033685710474
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| 1180 |
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161319.041030000 41.12303176021711
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161319.046190000 41.13502947100752
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| 1199 |
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161319.060744000 41.1470268179287
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161319.065744000 41.1470268179287
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161319.071105000 41.13502947100752
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161319.075744000 41.13502947100752
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161319.081136000 41.13502947100752
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161319.085873000 41.1470268179287
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| 1207 |
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161319.090796000 41.1470268179287
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| 1764 |
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161321.875672000 87.44038025972274
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| 1765 |
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| 1766 |
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| 1767 |
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| 1768 |
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| 1769 |
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| 1770 |
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| 1771 |
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| 1772 |
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161321.915811000 87.44038025972274
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multi_sessions_20251119_191110/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: 885
|
| 19 |
-
均值融合 (都低速): 885
|
| 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 19:12:09
|
| 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_191110/session_004/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_191110/session_004/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_191110/session_004/RGB_Images/timestamps.csv
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frame_index,timestamp
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multi_sessions_20251119_191110/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:418aad967892add64a7d4b29f2ff417624fe68af5c80930a218cbf982cf992a2
|
| 3 |
-
size 4041175
|
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multi_sessions_20251119_191110/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/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: 161313.061790s
|
| 6 |
-
Vive 第一帧时间戳: 1763550718.947516s
|
| 7 |
-
计算的 offset: -1763389405.885726s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.885726
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 19:12:09
|
| 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_191110/session_004/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_191110/session_005/Clamp_Data/clamp.csv
DELETED
|
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timestamp,clamp
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| 1333 |
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| 1334 |
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| 1335 |
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161336.845153,87.26721853177159
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| 1336 |
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161336.851346,87.26721853177159
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| 1337 |
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|
| 1338 |
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| 1339 |
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161336.865376,87.2580952273033
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| 1340 |
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| 1341 |
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| 1342 |
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| 1343 |
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| 1344 |
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| 1345 |
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| 1346 |
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| 1347 |
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| 1348 |
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| 1349 |
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| 1350 |
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161336.921856,87.26721853177159
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| 1351 |
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161336.925171,87.26721853177159
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|
multi_sessions_20251119_191110/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1350 +0,0 @@
|
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| 1 |
-
161330.180508000 87.82193503733029
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| 2 |
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161330.185530000 87.82193503733029
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| 3 |
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161330.190239000 87.82193503733029
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| 4 |
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161330.195209000 87.82193503733029
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| 5 |
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161330.203081000 87.82193503733029
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| 6 |
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161330.205908000 87.82193503733029
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| 7 |
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161330.210231000 87.8128700315816
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| 8 |
-
161330.215424000 87.8128700315816
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| 9 |
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161330.220753000 87.8128700315816
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161330.225176000 87.8128700315816
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161330.230175000 87.8128700315816
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161330.236068000 87.8128700315816
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161330.240197000 87.8128700315816
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161330.245188000 87.8128700315816
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161330.250237000 87.8128700315816
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161330.255793000 87.8128700315816
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161330.260185000 87.8128700315816
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161330.265594000 87.8128700315816
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161330.270467000 87.8128700315816
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161330.275240000 87.82193503733029
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| 21 |
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161330.281357000 87.8128700315816
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| 22 |
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161330.285226000 87.8128700315816
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161330.290178000 87.8128700315816
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161330.295181000 87.8128700315816
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161330.302016000 87.82193503733029
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161330.305190000 87.82193503733029
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| 27 |
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161330.310201000 87.82193503733029
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161330.315200000 87.82193503733029
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161330.355812000 87.8128700315816
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| 37 |
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161330.360411000 87.8128700315816
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161330.365265000 87.8128700315816
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161330.370408000 87.8128700315816
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161330.375190000 87.8128700315816
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161330.380326000 87.8128700315816
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161330.386332000 87.8128700315816
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161330.390222000 87.8128700315816
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161330.395241000 87.8128700315816
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| 45 |
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161330.402850000 87.8128700315816
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| 46 |
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161330.405879000 87.82193503733029
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| 47 |
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161330.410184000 87.82193503733029
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| 48 |
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161330.415203000 87.82193503733029
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| 49 |
-
161330.420186000 87.82193503733029
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| 50 |
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161330.425232000 87.82193503733029
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| 51 |
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161330.430151000 87.82193503733029
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| 52 |
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161330.436413000 87.8128700315816
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| 53 |
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161330.440155000 87.8128700315816
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| 54 |
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161330.445305000 87.82193503733029
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| 55 |
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161330.450266000 87.82193503733029
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| 56 |
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161330.455908000 87.82193503733029
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| 57 |
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161330.460250000 87.8128700315816
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| 58 |
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161330.465595000 87.8128700315816
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| 59 |
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161330.470433000 87.82193503733029
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| 60 |
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161330.475196000 87.82193503733029
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| 61 |
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161330.481372000 87.82193503733029
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| 62 |
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161330.485241000 87.82193503733029
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| 63 |
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161330.490154000 87.82193503733029
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| 64 |
-
161330.495231000 87.82193503733029
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| 65 |
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161330.502003000 87.8128700315816
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| 66 |
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161330.505156000 87.8128700315816
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| 67 |
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161330.510214000 87.82193503733029
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| 68 |
-
161330.515181000 87.82193503733029
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| 69 |
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161330.520294000 87.82193503733029
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| 70 |
-
161330.525157000 87.8128700315816
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| 71 |
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161330.530152000 87.8128700315816
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| 72 |
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161330.536050000 87.82193503733029
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| 73 |
-
161330.540156000 87.82193503733029
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| 74 |
-
161330.545162000 87.83099908377069
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| 75 |
-
161330.550420000 87.82193503733029
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| 76 |
-
161330.555670000 87.82193503733029
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| 77 |
-
161330.560318000 87.82193503733029
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| 78 |
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161330.565194000 87.8128700315816
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| 79 |
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161330.570447000 87.8128700315816
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| 80 |
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161330.575157000 87.82193503733029
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| 81 |
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161330.580375000 87.82193503733029
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161330.586422000 87.82193503733029
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| 83 |
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161330.590154000 87.82193503733029
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| 84 |
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161330.595179000 87.82193503733029
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| 85 |
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161330.602606000 87.82193503733029
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| 86 |
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161330.605857000 87.82193503733029
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| 87 |
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161330.610159000 87.82193503733029
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| 88 |
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161330.616303000 87.82193503733029
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| 89 |
-
161330.620681000 87.8128700315816
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| 90 |
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161330.625153000 87.82193503733029
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| 91 |
-
161330.630124000 87.82193503733029
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| 92 |
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161330.636131000 87.8128700315816
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| 93 |
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161330.640129000 87.8128700315816
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| 94 |
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161330.645138000 87.8128700315816
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| 95 |
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161330.650378000 87.82193503733029
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| 96 |
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161330.655479000 87.82193503733029
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| 97 |
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161330.660672000 87.8128700315816
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| 98 |
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161330.665421000 87.8128700315816
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| 99 |
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161330.670306000 87.8128700315816
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| 100 |
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161330.675166000 87.8128700315816
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161330.681299000 87.8128700315816
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| 102 |
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161330.685149000 87.8128700315816
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| 103 |
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161330.690126000 87.8128700315816
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| 104 |
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161330.695389000 87.8128700315816
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| 105 |
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161330.702026000 87.82193503733029
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| 106 |
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161330.705831000 87.82193503733029
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| 107 |
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161330.710171000 87.8128700315816
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| 108 |
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161330.715148000 87.8128700315816
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| 109 |
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161330.720319000 87.8128700315816
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| 110 |
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161330.725126000 87.8128700315816
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| 111 |
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161330.730124000 87.8128700315816
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| 112 |
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161330.735992000 87.8128700315816
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| 113 |
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161330.740128000 87.8128700315816
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| 114 |
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161330.745136000 87.8128700315816
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| 115 |
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161330.750195000 87.82193503733029
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| 116 |
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161330.755402000 87.82193503733029
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| 117 |
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161330.761124000 87.8128700315816
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| 118 |
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161330.765160000 87.8128700315816
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| 119 |
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161330.770463000 87.8128700315816
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| 120 |
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161330.775203000 87.8128700315816
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| 121 |
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161330.780808000 87.82193503733029
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161330.785379000 87.82193503733029
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| 123 |
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161330.790126000 87.82193503733029
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161330.795247000 87.82193503733029
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| 125 |
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161330.801656000 87.8128700315816
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161330.805163000 87.8128700315816
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161330.810133000 87.8128700315816
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| 128 |
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161330.817169000 87.8128700315816
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| 129 |
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| 1253 |
-
161336.440208000 87.29458273130982
|
| 1254 |
-
161336.445245000 87.29458273130982
|
| 1255 |
-
161336.451502000 87.28546228389118
|
| 1256 |
-
161336.455162000 87.28546228389118
|
| 1257 |
-
161336.460489000 87.28546228389118
|
| 1258 |
-
161336.465248000 87.28546228389118
|
| 1259 |
-
161336.470161000 87.28546228389118
|
| 1260 |
-
161336.475207000 87.28546228389118
|
| 1261 |
-
161336.480183000 87.27634088400632
|
| 1262 |
-
161336.485236000 87.28546228389118
|
| 1263 |
-
161336.490158000 87.28546228389118
|
| 1264 |
-
161336.495162000 87.28546228389118
|
| 1265 |
-
161336.501683000 87.28546228389118
|
| 1266 |
-
161336.505161000 87.28546228389118
|
| 1267 |
-
161336.510205000 87.28546228389118
|
| 1268 |
-
161336.516523000 87.28546228389118
|
| 1269 |
-
161336.521177000 87.27634088400632
|
| 1270 |
-
161336.525160000 87.27634088400632
|
| 1271 |
-
161336.530242000 87.27634088400632
|
| 1272 |
-
161336.535883000 87.28546228389118
|
| 1273 |
-
161336.540161000 87.28546228389118
|
| 1274 |
-
161336.545208000 87.28546228389118
|
| 1275 |
-
161336.551569000 87.28546228389118
|
| 1276 |
-
161336.555167000 87.28546228389118
|
| 1277 |
-
161336.561067000 87.27634088400632
|
| 1278 |
-
161336.565296000 87.27634088400632
|
| 1279 |
-
161336.570158000 87.27634088400632
|
| 1280 |
-
161336.575187000 87.27634088400632
|
| 1281 |
-
161336.580195000 87.27634088400632
|
| 1282 |
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161336.585770000 87.27634088400632
|
| 1283 |
-
161336.590161000 87.27634088400632
|
| 1284 |
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161336.595165000 87.27634088400632
|
| 1285 |
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161336.600271000 87.27634088400632
|
| 1286 |
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161336.605187000 87.27634088400632
|
| 1287 |
-
161336.610166000 87.26721853177159
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| 1288 |
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161336.617340000 87.26721853177159
|
| 1289 |
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161336.620860000 87.27634088400632
|
| 1290 |
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161336.625212000 87.27634088400632
|
| 1291 |
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161336.630171000 87.27634088400632
|
| 1292 |
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161336.636493000 87.27634088400632
|
| 1293 |
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161336.640198000 87.27634088400632
|
| 1294 |
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161336.645166000 87.26721853177159
|
| 1295 |
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161336.651558000 87.26721853177159
|
| 1296 |
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161336.655163000 87.26721853177159
|
| 1297 |
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161336.660353000 87.27634088400632
|
| 1298 |
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161336.665397000 87.26721853177159
|
| 1299 |
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161336.670158000 87.27634088400632
|
| 1300 |
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161336.675303000 87.27634088400632
|
| 1301 |
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161336.680718000 87.27634088400632
|
| 1302 |
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161336.685323000 87.27634088400632
|
| 1303 |
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161336.690158000 87.27634088400632
|
| 1304 |
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161336.695162000 87.27634088400632
|
| 1305 |
-
161336.701712000 87.27634088400632
|
| 1306 |
-
161336.705160000 87.26721853177159
|
| 1307 |
-
161336.710167000 87.27634088400632
|
| 1308 |
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161336.718381000 87.27634088400632
|
| 1309 |
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161336.721858000 87.27634088400632
|
| 1310 |
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161336.725534000 87.27634088400632
|
| 1311 |
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161336.730463000 87.27634088400632
|
| 1312 |
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161336.735212000 87.27634088400632
|
| 1313 |
-
161336.740149000 87.26721853177159
|
| 1314 |
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161336.745160000 87.26721853177159
|
| 1315 |
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161336.750186000 87.26721853177159
|
| 1316 |
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161336.755155000 87.26721853177159
|
| 1317 |
-
161336.760144000 87.26721853177159
|
| 1318 |
-
161336.765427000 87.26721853177159
|
| 1319 |
-
161336.770150000 87.27634088400632
|
| 1320 |
-
161336.775250000 87.27634088400632
|
| 1321 |
-
161336.783836000 87.26721853177159
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| 1322 |
-
161336.786907000 87.26721853177159
|
| 1323 |
-
161336.790430000 87.27634088400632
|
| 1324 |
-
161336.795154000 87.27634088400632
|
| 1325 |
-
161336.801487000 87.26721853177159
|
| 1326 |
-
161336.805211000 87.27634088400632
|
| 1327 |
-
161336.810152000 87.27634088400632
|
| 1328 |
-
161336.817513000 87.27634088400632
|
| 1329 |
-
161336.820849000 87.26721853177159
|
| 1330 |
-
161336.825175000 87.26721853177159
|
| 1331 |
-
161336.830150000 87.26721853177159
|
| 1332 |
-
161336.836586000 87.26721853177159
|
| 1333 |
-
161336.840152000 87.26721853177159
|
| 1334 |
-
161336.845153000 87.26721853177159
|
| 1335 |
-
161336.851346000 87.26721853177159
|
| 1336 |
-
161336.855152000 87.26721853177159
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| 1337 |
-
161336.860324000 87.26721853177159
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| 1338 |
-
161336.865376000 87.2580952273033
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| 1339 |
-
161336.870149000 87.2580952273033
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| 1340 |
-
161336.875157000 87.26721853177159
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| 1341 |
-
161336.880601000 87.26721853177159
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| 1342 |
-
161336.885328000 87.27634088400632
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| 1343 |
-
161336.890147000 87.26721853177159
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| 1344 |
-
161336.895173000 87.27634088400632
|
| 1345 |
-
161336.901753000 87.27634088400632
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| 1346 |
-
161336.905206000 87.27634088400632
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| 1347 |
-
161336.910216000 87.27634088400632
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| 1348 |
-
161336.918664000 87.26721853177159
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| 1349 |
-
161336.921856000 87.26721853177159
|
| 1350 |
-
161336.925171000 87.26721853177159
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multi_sessions_20251119_191110/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: 674
|
| 19 |
-
均值融合 (都低速): 674
|
| 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 19:12:24
|
| 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_191110/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
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372,161336.368159
|
| 375 |
-
373,161336.385775
|
| 376 |
-
374,161336.402483
|
| 377 |
-
375,161336.417978
|
| 378 |
-
376,161336.434382
|
| 379 |
-
377,161336.450736
|
| 380 |
-
378,161336.468418
|
| 381 |
-
379,161336.486075
|
| 382 |
-
380,161336.503162
|
| 383 |
-
381,161336.51923
|
| 384 |
-
382,161336.536674
|
| 385 |
-
383,161336.550871
|
| 386 |
-
384,161336.568094
|
| 387 |
-
385,161336.584162
|
| 388 |
-
386,161336.601928
|
| 389 |
-
387,161336.617534
|
| 390 |
-
388,161336.634366
|
| 391 |
-
389,161336.650818
|
| 392 |
-
390,161336.668129
|
| 393 |
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391,161336.686669
|
| 394 |
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392,161336.703269
|
| 395 |
-
393,161336.717663
|
| 396 |
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394,161336.735368
|
| 397 |
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395,161336.752356
|
| 398 |
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396,161336.768214
|
| 399 |
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397,161336.784115
|
| 400 |
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398,161336.80201
|
| 401 |
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399,161336.817663
|
| 402 |
-
400,161336.834368
|
| 403 |
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401,161336.850619
|
| 404 |
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402,161336.868157
|
| 405 |
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403,161336.88585
|
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404,161336.903384
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|
multi_sessions_20251119_191110/session_005/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:64862e2c49ac46139863691c23dc5c9b896b9c24fa09b2b5f4a7098d8c6b2240
|
| 3 |
-
size 3120944
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|
multi_sessions_20251119_191110/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191110/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: 161330.179777s
|
| 6 |
-
Vive 第一帧时间戳: 1763550736.067523s
|
| 7 |
-
计算的 offset: -1763389405.887746s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.887746
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 19:12:24
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
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