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example_data_fastumi_pro_raw

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Tags:
robotics
manipulation
trajectory-data
multimodal
embodied-ai
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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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+ 轨迹融合统计信息（基于速度的动态融合）
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+ 生成时间: 2025-11-19 18:14:45
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+ 设备标签: main
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+ 轨迹融合统计信息（基于速度的动态融合）
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+ ============================================================
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+ 辅助传感器: SLAM (500Hz)
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+ 融合策略:
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+ 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
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+ 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
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+ 4. 都高速 → 不输出（跳过该帧）
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+ 策略分布:
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+ 均值融合: 100.0%
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+ 输出率统计:
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+ 输出率: 100.0%
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+ 跳过率: 0.0%
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+ 生成时间: 2025-11-19 18:15:03
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+ 设备标签: main
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+ XV 序列号: 250801DR48FP25002087
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+ Vive 序列号: LHR_B728E669
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+ 轨迹融合统计信息（基于速度的动态融合）
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+ ============================================================
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+ 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
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+ 策略分布:
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+ 均值融合: 100.0%
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+ 生成时间: 2025-11-19 18:15:21
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+ 设备标签: main
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multi_sessions_20251119_181431/session_004/Merged_Trajectory/merge_stats.txt ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 轨迹融合统计信息（基于速度的动态融合）
2
+ ============================================================
3
+
4
+ 融合配置:
5
+ 速度阈值: 1.0 m/s
6
+ 融合频率: 120 Hz
7
+ 时间匹配阈值: 0.01 s
8
+ 基准传感器: VIVE (100Hz)
9
+ 辅助传感器: SLAM (500Hz)
10
+
11
+ 融合策略:
12
+ 1. 都低速 → 均值融合 (SLERP)
13
+ 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
14
+ 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
15
+ 4. 都高速 → 不输出（跳过该帧）
16
+
17
+ 融合结果统计:
18
+ 总融合点数: 772
19
+ 均值融合 (都低速): 772
20
+ 使用SLAM (VIVE高速): 0
21
+ 使用VIVE (SLAM高速): 0
22
+ 都高速 (已跳过): 0
23
+ 总跳过帧数: 0
24
+
25
+ 策略分布:
26
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+ 生成时间: 2025-11-19 18:15:38
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+ 设备标签: main
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+ XV 序列号: 250801DR48FP25002087
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+ Vive 序列号: LHR_B728E669
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multi_sessions_20251119_181431/session_004/SLAM_Poses/slam_raw.txt ADDED
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multi_sessions_20251119_181431/session_004/Vive_Poses/offset_info.txt ADDED
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1
+ Vive 时间戳对齐信息
2
+ ============================================================
3
+
4
+ 对齐参数:
5
+ SLAM 第一帧时间戳: 157923.493456s
6
+ Vive 第一帧时间戳: 1763547329.377491s
7
+ 计算的 offset: -1763389405.884035s
8
+ 对齐公式: vive_aligned = vive_original + -1763389405.884035
9
+
10
+ 说明:
11
+ - 所有保存的 Vive 数据已使用对齐后的时间戳
12
+ - 时间戳已与 SLAM 数据对齐
13
+ - 坐标已转换到 Gripper 坐标系
14
+
15
+ 生成时间: 2025-11-19 18:15:38
16
+ 设备标签: main
17
+ XV 序列号: 250801DR48FP25002087
18
+ Vive 序列号: LHR_B728E669
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+ 轨迹融合统计信息（基于速度的动态融合）
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+ ============================================================
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+
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+ 融合配置:
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+ 速度阈值: 1.0 m/s
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+ 时间匹配阈值: 0.01 s
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+ 基准传感器: VIVE (100Hz)
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+ 辅助传感器: SLAM (500Hz)
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+
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+ 融合策略:
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+ 1. 都低速 → 均值融合 (SLERP)
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+ 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
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+ 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
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+ 4. 都高速 → 不输出（跳过该帧）
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+
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+ 融合结果统计:
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+ 总融合点数: 797
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+ 均值融合 (都低速): 797
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+ 使用VIVE (SLAM高速): 0
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+
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+ 策略分布:
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+ 均值融合: 100.0%
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+ 使用SLAM: 0.0%
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+ 使用VIVE: 0.0%
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+
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+ 输出率统计:
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+ 输出率: 100.0%
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+ 跳过率: 0.0%
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+
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+ 生成时间: 2025-11-19 18:15:56
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+ 设备标签: main
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+ XV 序列号: 250801DR48FP25002087
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+ Vive 序列号: LHR_B728E669
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multi_sessions_20251119_181431/session_005/SLAM_Poses/slam_raw.txt ADDED
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multi_sessions_20251119_181431/session_005/Vive_Poses/offset_info.txt ADDED
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1
+ Vive 时间戳对齐信息
2
+ ============================================================
3
+
4
+ 对齐参数:
5
+ SLAM 第一帧时间戳: 157940.747461s
6
+ Vive 第一帧时间戳: 1763547346.627395s
7
+ 计算的 offset: -1763389405.879934s
8
+ 对齐公式: vive_aligned = vive_original + -1763389405.879934
9
+
10
+ 说明:
11
+ - 所有保存的 Vive 数据已使用对齐后的时间戳
12
+ - 时间戳已与 SLAM 数据对齐
13
+ - 坐标已转换到 Gripper 坐标系
14
+
15
+ 生成时间: 2025-11-19 18:15:56
16
+ 设备标签: main
17
+ XV 序列号: 250801DR48FP25002087
18
+ Vive 序列号: LHR_B728E669