Delete multi_sessions_20251119_191847
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- multi_sessions_20251119_191847/collection_summary.txt +0 -153
- multi_sessions_20251119_191847/session_001/Clamp_Data/clamp.csv +0 -1453
- multi_sessions_20251119_191847/session_001/Clamp_Data/clamp_data_tum.txt +0 -1452
- multi_sessions_20251119_191847/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_191847/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_191847/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_191847/session_001/RGB_Images/timestamps.csv +0 -437
- multi_sessions_20251119_191847/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_191847/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_191847/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_191847/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_191847/session_002/Clamp_Data/clamp.csv +0 -1426
- multi_sessions_20251119_191847/session_002/Clamp_Data/clamp_data_tum.txt +0 -1425
- multi_sessions_20251119_191847/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_191847/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_191847/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_191847/session_002/RGB_Images/timestamps.csv +0 -429
- multi_sessions_20251119_191847/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_191847/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_191847/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_191847/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_191847/session_003/Clamp_Data/clamp.csv +0 -1388
- multi_sessions_20251119_191847/session_003/Clamp_Data/clamp_data_tum.txt +0 -1387
- multi_sessions_20251119_191847/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_191847/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_191847/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_191847/session_003/RGB_Images/timestamps.csv +0 -417
- multi_sessions_20251119_191847/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_191847/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_191847/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_191847/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_191847/session_004/Clamp_Data/clamp.csv +0 -1481
- multi_sessions_20251119_191847/session_004/Clamp_Data/clamp_data_tum.txt +0 -1480
- multi_sessions_20251119_191847/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_191847/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_191847/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_191847/session_004/RGB_Images/timestamps.csv +0 -446
- multi_sessions_20251119_191847/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_191847/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_191847/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_191847/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_191847/session_005/Clamp_Data/clamp.csv +0 -1451
- multi_sessions_20251119_191847/session_005/Clamp_Data/clamp_data_tum.txt +0 -1450
- multi_sessions_20251119_191847/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_191847/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_191847/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_191847/session_005/RGB_Images/timestamps.csv +0 -437
- multi_sessions_20251119_191847/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_191847/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_191847/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_191847/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 19:18:48 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_191847
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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 19:18:48 CST
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输出目录: ./multi_sessions_20251119_191847/session_001
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结束时间: 2025年 11月 19日 星期三 19:19:03 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_191847/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 19:19:05 CST
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输出目录: ./multi_sessions_20251119_191847/session_002
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结束时间: 2025年 11月 19日 星期三 19:19:18 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_191847/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 19:19:22 CST
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输出目录: ./multi_sessions_20251119_191847/session_003
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结束时间: 2025年 11月 19日 星期三 19:19:35 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_191847/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 19:19:38 CST
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输出目录: ./multi_sessions_20251119_191847/session_004
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结束时间: 2025年 11月 19日 星期三 19:19:52 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_191847/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 19:19:54 CST
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输出目录: ./multi_sessions_20251119_191847/session_005
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结束时间: 2025年 11月 19日 星期三 19:20:06 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_191847/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 19:20:08 CST
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输出目录: ./multi_sessions_20251119_191847/session_006
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结束时间: 2025年 11月 19日 星期三 19:20:22 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_191847/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 19:20:25 CST
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输出目录: ./multi_sessions_20251119_191847/session_007
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结束时间: 2025年 11月 19日 星期三 19:20:38 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_191847/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 19:20:40 CST
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输出目录: ./multi_sessions_20251119_191847/session_008
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结束时间: 2025年 11月 19日 星期三 19:20:53 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_191847/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 19:20:55 CST
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输出目录: ./multi_sessions_20251119_191847/session_009
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结束时间: 2025年 11月 19日 星期三 19:21:12 CST
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持续时间: 17秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_191847/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 19:21:13 CST
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输出目录: ./multi_sessions_20251119_191847/session_010
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结束时间: 2025年 11月 19日 星期三 19:21:27 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_191847/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 19:21:27 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_191847/
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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_191847/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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161725.462904,87.68585928849235
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|
multi_sessions_20251119_191847/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1452 +0,0 @@
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| 1 |
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161725.462904000 87.68585928849235
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161725.467968000 87.68585928849235
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161725.473416000 87.68585928849235
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161725.479195000 87.69493771241248
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161725.482976000 87.69493771241248
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161725.487894000 87.69493771241248
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161725.492881000 87.69493771241248
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161725.498181000 87.69493771241248
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161725.504310000 87.70401517864401
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161725.507970000 87.70401517864401
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161725.512878000 87.69493771241248
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161725.567940000 87.69493771241248
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| 48 |
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161725.698204000 87.68585928849235
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161725.727922000 87.68585928849235
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161725.739042000 87.69493771241248
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161725.750709000 87.69493771241248
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161725.758995000 87.69493771241248
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161725.768071000 87.69493771241248
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161725.778686000 87.68585928849235
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161725.783190000 87.68585928849235
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161725.787963000 87.68585928849235
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161725.793033000 87.68585928849235
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161725.797999000 87.69493771241248
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161725.804903000 87.68585928849235
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161725.808565000 87.68585928849235
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161725.813197000 87.68585928849235
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161725.819052000 87.68585928849235
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161725.822961000 87.68585928849235
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161725.827962000 87.68585928849235
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161725.832964000 87.68585928849235
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161725.838479000 87.68585928849235
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161725.878010000 87.69493771241248
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161725.883003000 87.69493771241248
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| 86 |
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161725.888015000 87.68585928849235
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161725.893118000 87.68585928849235
|
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161725.898009000 87.69493771241248
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161725.903024000 87.69493771241248
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| 90 |
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161725.907971000 87.69493771241248
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161725.922961000 87.69493771241248
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161725.939271000 87.69493771241248
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161725.942965000 87.68585928849235
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161725.950801000 87.69493771241248
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161725.957959000 87.69493771241248
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161725.963004000 87.68585928849235
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161725.968233000 87.69493771241248
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| 103 |
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161725.973012000 87.69493771241248
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161725.979066000 87.69493771241248
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| 105 |
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161725.984638000 87.69493771241248
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161725.988002000 87.69493771241248
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| 109 |
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161726.005003000 87.69493771241248
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| 110 |
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161726.008642000 87.70401517864401
|
| 111 |
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161726.013236000 87.71309168707114
|
| 112 |
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161726.019132000 87.68585928849235
|
| 113 |
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161726.023001000 87.67677990699939
|
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multi_sessions_20251119_191847/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: 726
|
| 19 |
-
均值融合 (都低速): 726
|
| 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 19:19:00
|
| 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_191847/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,437 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,161725.451166
|
| 3 |
-
1,161725.471093
|
| 4 |
-
2,161725.485876
|
| 5 |
-
3,161725.504396
|
| 6 |
-
4,161725.51759
|
| 7 |
-
5,161725.538188
|
| 8 |
-
6,161725.551182
|
| 9 |
-
7,161725.570542
|
| 10 |
-
8,161725.585838
|
| 11 |
-
9,161725.604714
|
| 12 |
-
10,161725.617614
|
| 13 |
-
11,161725.635919
|
| 14 |
-
12,161725.651091
|
| 15 |
-
13,161725.671012
|
| 16 |
-
14,161725.685943
|
| 17 |
-
15,161725.704377
|
| 18 |
-
16,161725.717816
|
| 19 |
-
17,161725.738299
|
| 20 |
-
18,161725.750935
|
| 21 |
-
19,161725.77035
|
| 22 |
-
20,161725.785921
|
| 23 |
-
21,161725.804963
|
| 24 |
-
22,161725.817656
|
| 25 |
-
23,161725.837767
|
| 26 |
-
24,161725.851372
|
| 27 |
-
25,161725.871365
|
| 28 |
-
26,161725.886129
|
| 29 |
-
27,161725.904526
|
| 30 |
-
28,161725.917873
|
| 31 |
-
29,161725.938528
|
| 32 |
-
30,161725.951
|
| 33 |
-
31,161725.970613
|
| 34 |
-
32,161725.984712
|
| 35 |
-
33,161726.005051
|
| 36 |
-
34,161726.018282
|
| 37 |
-
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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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|
| 41 |
-
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|
| 42 |
-
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|
| 43 |
-
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|
| 44 |
-
42,161726.151032
|
| 45 |
-
43,161726.170808
|
| 46 |
-
44,161726.185951
|
| 47 |
-
45,161726.204955
|
| 48 |
-
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|
| 49 |
-
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|
| 50 |
-
48,161726.251467
|
| 51 |
-
49,161726.270245
|
| 52 |
-
50,161726.284474
|
| 53 |
-
51,161726.304746
|
| 54 |
-
52,161726.317693
|
| 55 |
-
53,161726.3385
|
| 56 |
-
54,161726.351117
|
| 57 |
-
55,161726.370916
|
| 58 |
-
56,161726.385839
|
| 59 |
-
57,161726.404763
|
| 60 |
-
58,161726.417573
|
| 61 |
-
59,161726.438014
|
| 62 |
-
60,161726.450922
|
| 63 |
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61,161726.471079
|
| 64 |
-
62,161726.486497
|
| 65 |
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63,161726.504769
|
| 66 |
-
64,161726.517579
|
| 67 |
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65,161726.537377
|
| 68 |
-
66,161726.550959
|
| 69 |
-
67,161726.572257
|
| 70 |
-
68,161726.585846
|
| 71 |
-
69,161726.604372
|
| 72 |
-
70,161726.617519
|
| 73 |
-
71,161726.638171
|
| 74 |
-
72,161726.653854
|
| 75 |
-
73,161726.6713
|
| 76 |
-
74,161726.68473
|
| 77 |
-
75,161726.704826
|
| 78 |
-
76,161726.717584
|
| 79 |
-
77,161726.735958
|
| 80 |
-
78,161726.750945
|
| 81 |
-
79,161726.771429
|
| 82 |
-
80,161726.786006
|
| 83 |
-
81,161726.804093
|
| 84 |
-
82,161726.817654
|
| 85 |
-
83,161726.838573
|
| 86 |
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84,161726.851028
|
| 87 |
-
85,161726.870576
|
| 88 |
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86,161726.885025
|
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-
87,161726.90508
|
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88,161726.917581
|
| 91 |
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89,161726.936994
|
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-
90,161726.950941
|
| 93 |
-
91,161726.970784
|
| 94 |
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92,161726.986197
|
| 95 |
-
93,161727.00449
|
| 96 |
-
94,161727.017699
|
| 97 |
-
95,161727.036818
|
| 98 |
-
96,161727.050729
|
| 99 |
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97,161727.070368
|
| 100 |
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98,161727.085903
|
| 101 |
-
99,161727.105143
|
| 102 |
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100,161727.118434
|
| 103 |
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101,161727.137063
|
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102,161727.151069
|
| 105 |
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103,161727.170093
|
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104,161727.18412
|
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|
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106,161727.217797
|
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107,161727.238356
|
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108,161727.251157
|
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109,161727.270692
|
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110,161727.286395
|
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111,161727.30517
|
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112,161727.317699
|
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|
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114,161727.351157
|
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115,161727.371173
|
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116,161727.384308
|
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117,161727.404656
|
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-
118,161727.417871
|
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119,161727.437701
|
| 122 |
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120,161727.45087
|
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-
121,161727.471234
|
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122,161727.486833
|
| 125 |
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123,161727.505302
|
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124,161727.517768
|
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-
125,161727.535611
|
| 128 |
-
126,161727.553498
|
| 129 |
-
127,161727.571419
|
| 130 |
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128,161727.586055
|
| 131 |
-
129,161727.604635
|
| 132 |
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130,161727.617624
|
| 133 |
-
131,161727.636665
|
| 134 |
-
132,161727.650835
|
| 135 |
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133,161727.670968
|
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-
134,161727.686376
|
| 137 |
-
135,161727.705019
|
| 138 |
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136,161727.717652
|
| 139 |
-
137,161727.736479
|
| 140 |
-
138,161727.750939
|
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139,161727.770887
|
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140,161727.786605
|
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|
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142,161727.817795
|
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143,161727.837088
|
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144,161727.8509
|
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145,161727.871127
|
| 148 |
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146,161727.886372
|
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147,161727.904092
|
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148,161727.917649
|
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149,161727.935932
|
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150,161727.953783
|
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|
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152,161727.986483
|
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153,161728.003738
|
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154,161728.017666
|
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|
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|
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|
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|
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159,161728.104343
|
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160,161728.117739
|
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|
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162,161728.150931
|
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|
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|
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165,161728.203471
|
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166,161728.217654
|
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167,161728.236978
|
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|
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|
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170,161728.28655
|
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171,161728.303915
|
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172,161728.317836
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multi_sessions_20251119_191847/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:37795e76f44563b3db84d3a455cc43f280cbe5a138220d3507d24b83ed7fd061
|
| 3 |
-
size 3485985
|
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multi_sessions_20251119_191847/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/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: 161725.463773s
|
| 6 |
-
Vive 第一帧时间戳: 1763551131.347516s
|
| 7 |
-
计算的 offset: -1763389405.883743s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.883743
|
| 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 19:19:00
|
| 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_191847/session_001/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_191847/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1426 +0,0 @@
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timestamp,clamp
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161748.157285,87.09371304764684
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| 1338 |
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161748.16236,87.09371304764684
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| 1339 |
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161748.167854,87.09371304764684
|
| 1340 |
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161748.172311,87.09371304764684
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| 1341 |
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161748.177285,87.09371304764684
|
| 1342 |
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161748.185989,87.09371304764684
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| 1343 |
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161748.188861,87.09371304764684
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| 1344 |
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161748.192312,87.09371304764684
|
| 1345 |
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161748.19732,87.1028534724098
|
| 1346 |
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161748.202815,87.1028534724098
|
| 1347 |
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161748.20764,87.09371304764684
|
| 1348 |
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161748.212319,87.09371304764684
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| 1349 |
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161748.219693,87.09371304764684
|
| 1350 |
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161748.222896,87.09371304764684
|
| 1351 |
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161748.227754,87.09371304764684
|
| 1352 |
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161748.232337,87.09371304764684
|
| 1353 |
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161748.239223,87.1028534724098
|
| 1354 |
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161748.242908,87.1028534724098
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| 1355 |
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161748.247314,87.1028534724098
|
| 1356 |
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161748.252743,87.09371304764684
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| 1357 |
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161748.257371,87.09371304764684
|
| 1358 |
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161748.262412,87.09371304764684
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| 1359 |
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161748.269142,87.1028534724098
|
| 1360 |
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161748.272916,87.1028534724098
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| 1361 |
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161748.277324,87.1028534724098
|
| 1362 |
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161748.285498,87.1028534724098
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| 1363 |
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161748.288933,87.1028534724098
|
| 1364 |
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161748.292317,87.1028534724098
|
| 1365 |
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161748.297633,87.09371304764684
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| 1366 |
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161748.303361,87.09371304764684
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| 1367 |
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161748.307318,87.1028534724098
|
| 1368 |
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161748.312318,87.1028534724098
|
| 1369 |
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161748.319872,87.1028534724098
|
| 1370 |
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161748.322899,87.1028534724098
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| 1371 |
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161748.327623,87.1028534724098
|
| 1372 |
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161748.332749,87.1028534724098
|
| 1373 |
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161748.338364,87.1028534724098
|
| 1374 |
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161748.342962,87.1028534724098
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| 1375 |
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161748.347317,87.1028534724098
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| 1376 |
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161748.352384,87.1028534724098
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| 1377 |
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161748.35732,87.1028534724098
|
| 1378 |
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161748.362412,87.1028534724098
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| 1379 |
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161748.36768,87.1028534724098
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| 1380 |
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161748.372315,87.1028534724098
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| 1381 |
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161748.377324,87.1028534724098
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| 1382 |
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161748.385989,87.1028534724098
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| 1383 |
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161748.388916,87.1028534724098
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| 1384 |
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161748.392312,87.1028534724098
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| 1385 |
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161748.397402,87.1028534724098
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| 1386 |
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161748.402782,87.1028534724098
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| 1387 |
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161748.40736,87.1028534724098
|
| 1388 |
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161748.412357,87.1028534724098
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| 1389 |
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161748.419951,87.11199294703552
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| 1390 |
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161748.422937,87.11199294703552
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| 1391 |
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161748.427798,87.1028534724098
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| 1392 |
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161748.432358,87.1028534724098
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| 1393 |
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161748.439862,87.1028534724098
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| 1394 |
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161748.443463,87.1028534724098
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161748.447829,87.1028534724098
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| 1396 |
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161748.452357,87.1028534724098
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| 1397 |
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161748.457406,87.1028534724098
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| 1398 |
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161748.462369,87.1028534724098
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| 1399 |
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161748.468956,87.1028534724098
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| 1400 |
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161748.472355,87.1028534724098
|
| 1401 |
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161748.477418,87.11199294703552
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| 1402 |
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161748.486093,87.11199294703552
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| 1403 |
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161748.488937,87.11199294703552
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| 1404 |
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161748.492353,87.11199294703552
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| 1405 |
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161748.497491,87.11199294703552
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| 1406 |
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161748.502861,87.1028534724098
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| 1407 |
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161748.508725,87.11199294703552
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| 1408 |
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161748.512359,87.11199294703552
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| 1409 |
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161748.520284,87.11199294703552
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| 1410 |
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161748.523939,87.11199294703552
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| 1411 |
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161748.527786,87.11199294703552
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| 1412 |
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161748.535401,87.11199294703552
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| 1413 |
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161748.539734,87.11199294703552
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| 1414 |
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161748.543173,87.11199294703552
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| 1415 |
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161748.547685,87.11199294703552
|
| 1416 |
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161748.552378,87.1028534724098
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| 1417 |
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161748.557358,87.11199294703552
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| 1418 |
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161748.562656,87.11199294703552
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| 1419 |
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161748.567503,87.11199294703552
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| 1420 |
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161748.572357,87.11199294703552
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| 1421 |
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161748.577369,87.11199294703552
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| 1422 |
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161748.585258,87.11199294703552
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| 1423 |
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161748.58895,87.11199294703552
|
| 1424 |
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161748.592354,87.11199294703552
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| 1425 |
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161748.597555,87.11199294703552
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| 1426 |
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161748.602983,87.11199294703552
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|
multi_sessions_20251119_191847/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1425 +0,0 @@
|
|
| 1 |
-
161741.482964000 87.54047435463723
|
| 2 |
-
161741.486452000 87.54047435463723
|
| 3 |
-
161741.490882000 87.54047435463723
|
| 4 |
-
161741.495870000 87.54956808582004
|
| 5 |
-
161741.502579000 87.54956808582004
|
| 6 |
-
161741.505860000 87.54956808582004
|
| 7 |
-
161741.510864000 87.54956808582004
|
| 8 |
-
161741.518317000 87.54047435463723
|
| 9 |
-
161741.521597000 87.54047435463723
|
| 10 |
-
161741.526944000 87.54047435463723
|
| 11 |
-
161741.531112000 87.54047435463723
|
| 12 |
-
161741.535879000 87.54047435463723
|
| 13 |
-
161741.541016000 87.54047435463723
|
| 14 |
-
161741.546348000 87.54047435463723
|
| 15 |
-
161741.550942000 87.54047435463723
|
| 16 |
-
161741.555865000 87.54047435463723
|
| 17 |
-
161741.562031000 87.54047435463723
|
| 18 |
-
161741.566533000 87.54047435463723
|
| 19 |
-
161741.571042000 87.54047435463723
|
| 20 |
-
161741.575870000 87.54047435463723
|
| 21 |
-
161741.581593000 87.54956808582004
|
| 22 |
-
161741.585886000 87.54956808582004
|
| 23 |
-
161741.590860000 87.54047435463723
|
| 24 |
-
161741.595864000 87.54956808582004
|
| 25 |
-
161741.603631000 87.54956808582004
|
| 26 |
-
161741.607481000 87.54956808582004
|
| 27 |
-
161741.610864000 87.54956808582004
|
| 28 |
-
161741.616601000 87.54956808582004
|
| 29 |
-
161741.621542000 87.54956808582004
|
| 30 |
-
161741.625859000 87.54956808582004
|
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multi_sessions_20251119_191847/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: 712
|
| 19 |
-
均值融合 (都低速): 712
|
| 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 19:19:16
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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|
multi_sessions_20251119_191847/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,429 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,161741.46938
|
| 3 |
-
1,161741.484943
|
| 4 |
-
2,161741.503755
|
| 5 |
-
3,161741.518578
|
| 6 |
-
4,161741.538819
|
| 7 |
-
5,161741.553039
|
| 8 |
-
6,161741.569741
|
| 9 |
-
7,161741.586698
|
| 10 |
-
8,161741.604772
|
| 11 |
-
9,161741.618756
|
| 12 |
-
10,161741.639304
|
| 13 |
-
11,161741.653059
|
| 14 |
-
12,161741.669742
|
| 15 |
-
13,161741.684922
|
| 16 |
-
14,161741.703589
|
| 17 |
-
15,161741.718193
|
| 18 |
-
16,161741.737918
|
| 19 |
-
17,161741.751407
|
| 20 |
-
18,161741.76979
|
| 21 |
-
19,161741.786373
|
| 22 |
-
20,161741.804966
|
| 23 |
-
21,161741.818826
|
| 24 |
-
22,161741.838209
|
| 25 |
-
23,161741.852708
|
| 26 |
-
24,161741.869331
|
| 27 |
-
25,161741.885089
|
| 28 |
-
26,161741.903814
|
| 29 |
-
27,161741.921435
|
| 30 |
-
28,161741.93921
|
| 31 |
-
29,161741.953257
|
| 32 |
-
30,161741.969919
|
| 33 |
-
31,161741.986486
|
| 34 |
-
32,161742.004919
|
| 35 |
-
33,161742.018863
|
| 36 |
-
34,161742.038181
|
| 37 |
-
35,161742.052669
|
| 38 |
-
36,161742.069492
|
| 39 |
-
37,161742.086217
|
| 40 |
-
38,161742.103876
|
| 41 |
-
39,161742.121359
|
| 42 |
-
40,161742.139366
|
| 43 |
-
41,161742.152992
|
| 44 |
-
42,161742.169955
|
| 45 |
-
43,161742.186488
|
| 46 |
-
44,161742.205052
|
| 47 |
-
45,161742.218908
|
| 48 |
-
46,161742.23857
|
| 49 |
-
47,161742.252765
|
| 50 |
-
48,161742.269509
|
| 51 |
-
49,161742.286441
|
| 52 |
-
50,161742.305311
|
| 53 |
-
51,161742.318462
|
| 54 |
-
52,161742.336678
|
| 55 |
-
53,161742.353282
|
| 56 |
-
54,161742.371742
|
| 57 |
-
55,161742.384952
|
| 58 |
-
56,161742.403597
|
| 59 |
-
57,161742.418864
|
| 60 |
-
58,161742.437634
|
| 61 |
-
59,161742.451353
|
| 62 |
-
60,161742.469843
|
| 63 |
-
61,161742.486518
|
| 64 |
-
62,161742.5061
|
| 65 |
-
63,161742.518587
|
| 66 |
-
64,161742.536668
|
| 67 |
-
65,161742.551554
|
| 68 |
-
66,161742.570882
|
| 69 |
-
67,161742.586421
|
| 70 |
-
68,161742.603604
|
| 71 |
-
69,161742.618992
|
| 72 |
-
70,161742.638874
|
| 73 |
-
71,161742.653203
|
| 74 |
-
72,161742.66979
|
| 75 |
-
73,161742.68661
|
| 76 |
-
74,161742.705413
|
| 77 |
-
75,161742.718594
|
| 78 |
-
76,161742.739696
|
| 79 |
-
77,161742.751501
|
| 80 |
-
78,161742.771297
|
| 81 |
-
79,161742.785127
|
| 82 |
-
80,161742.803218
|
| 83 |
-
81,161742.817883
|
| 84 |
-
82,161742.837147
|
| 85 |
-
83,161742.851426
|
| 86 |
-
84,161742.870126
|
| 87 |
-
85,161742.886684
|
| 88 |
-
86,161742.904933
|
| 89 |
-
87,161742.918553
|
| 90 |
-
88,161742.939406
|
| 91 |
-
89,161742.951299
|
| 92 |
-
90,161742.971214
|
| 93 |
-
91,161742.985121
|
| 94 |
-
92,161743.004076
|
| 95 |
-
93,161743.019049
|
| 96 |
-
94,161743.038947
|
| 97 |
-
95,161743.053216
|
| 98 |
-
96,161743.070131
|
| 99 |
-
97,161743.084698
|
| 100 |
-
98,161743.104717
|
| 101 |
-
99,161743.118841
|
| 102 |
-
100,161743.136351
|
| 103 |
-
101,161743.151313
|
| 104 |
-
102,161743.169696
|
| 105 |
-
103,161743.186549
|
| 106 |
-
104,161743.204047
|
| 107 |
-
105,161743.221118
|
| 108 |
-
106,161743.235784
|
| 109 |
-
107,161743.251572
|
| 110 |
-
108,161743.269859
|
| 111 |
-
109,161743.286521
|
| 112 |
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110,161743.306171
|
| 113 |
-
111,161743.318938
|
| 114 |
-
112,161743.337659
|
| 115 |
-
113,161743.351437
|
| 116 |
-
114,161743.37001
|
| 117 |
-
115,161743.385164
|
| 118 |
-
116,161743.40399
|
| 119 |
-
117,161743.421136
|
| 120 |
-
118,161743.438067
|
| 121 |
-
119,161743.451632
|
| 122 |
-
120,161743.469774
|
| 123 |
-
121,161743.485055
|
| 124 |
-
122,161743.503577
|
| 125 |
-
123,161743.518997
|
| 126 |
-
124,161743.53881
|
| 127 |
-
125,161743.551327
|
| 128 |
-
126,161743.570041
|
| 129 |
-
127,161743.58535
|
| 130 |
-
128,161743.603896
|
| 131 |
-
129,161743.618855
|
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multi_sessions_20251119_191847/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:871be876cc423a5eb9b8d2ddd460ea2a207ef9acf3a0d661a7a803ac94f5c684
|
| 3 |
-
size 3545681
|
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multi_sessions_20251119_191847/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/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: 161741.481786s
|
| 6 |
-
Vive 第一帧时间戳: 1763551147.367467s
|
| 7 |
-
计算的 offset: -1763389405.885681s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.885681
|
| 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 19:19:16
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_191847/session_002/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/session_003/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1388 +0,0 @@
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timestamp,clamp
|
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161765.310494,86.95649273903416
|
| 1311 |
-
161765.31551,86.94733712793791
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| 1312 |
-
161765.321434,86.94733712793791
|
| 1313 |
-
161765.325486,86.95649273903416
|
| 1314 |
-
161765.330495,86.95649273903416
|
| 1315 |
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161765.336593,86.95649273903416
|
| 1316 |
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161765.340492,86.95649273903416
|
| 1317 |
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161765.345994,86.95649273903416
|
| 1318 |
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161765.350771,86.95649273903416
|
| 1319 |
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161765.35549,86.94733712793791
|
| 1320 |
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161765.360491,86.95649273903416
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| 1321 |
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161765.365798,86.95649273903416
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| 1322 |
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161765.370577,86.95649273903416
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| 1323 |
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161765.375553,86.94733712793791
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| 1324 |
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161765.380608,86.94733712793791
|
| 1325 |
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161765.387784,86.94733712793791
|
| 1326 |
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161765.3911,86.94733712793791
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| 1327 |
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161765.395519,86.94733712793791
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| 1328 |
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161765.400546,86.94733712793791
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| 1329 |
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161765.406415,86.94733712793791
|
| 1330 |
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161765.410619,86.95649273903416
|
| 1331 |
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161765.415532,86.95649273903416
|
| 1332 |
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161765.420604,86.94733712793791
|
| 1333 |
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161765.425527,86.95649273903416
|
| 1334 |
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161765.430528,86.95649273903416
|
| 1335 |
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161765.436219,86.94733712793791
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| 1336 |
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161765.440527,86.94733712793791
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| 1337 |
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161765.445732,86.95649273903416
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| 1338 |
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161765.450664,86.95649273903416
|
| 1339 |
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161765.455524,86.94733712793791
|
| 1340 |
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161765.460559,86.94733712793791
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| 1341 |
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161765.46561,86.94733712793791
|
| 1342 |
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161765.470687,86.94733712793791
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| 1343 |
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161765.475551,86.94733712793791
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| 1344 |
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161765.480525,86.94733712793791
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| 1345 |
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161765.487264,86.95649273903416
|
| 1346 |
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161765.490524,86.95649273903416
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| 1347 |
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161765.49552,86.94733712793791
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| 1348 |
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161765.50054,86.94733712793791
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| 1349 |
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161765.506336,86.94733712793791
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| 1350 |
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161765.51056,86.94733712793791
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| 1351 |
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161765.51588,86.94733712793791
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| 1352 |
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161765.520979,86.94733712793791
|
| 1353 |
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161765.525524,86.94733712793791
|
| 1354 |
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161765.530526,86.94733712793791
|
| 1355 |
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161765.536796,86.94733712793791
|
| 1356 |
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161765.540526,86.94733712793791
|
| 1357 |
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161765.545902,86.94733712793791
|
| 1358 |
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161765.55116,86.94733712793791
|
| 1359 |
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161765.555567,86.95649273903416
|
| 1360 |
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161765.560527,86.94733712793791
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| 1361 |
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161765.565971,86.94733712793791
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| 1362 |
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161765.570927,86.94733712793791
|
| 1363 |
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161765.575554,86.94733712793791
|
| 1364 |
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161765.580612,86.94733712793791
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| 1365 |
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161765.586961,86.94733712793791
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| 1366 |
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161765.590562,86.94733712793791
|
| 1367 |
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161765.59556,86.94733712793791
|
| 1368 |
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161765.600663,86.95649273903416
|
| 1369 |
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161765.606293,86.95649273903416
|
| 1370 |
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161765.610569,86.95649273903416
|
| 1371 |
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161765.615888,86.95649273903416
|
| 1372 |
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161765.621429,86.94733712793791
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| 1373 |
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161765.62556,86.94733712793791
|
| 1374 |
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161765.630568,86.94733712793791
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| 1375 |
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161765.636367,86.94733712793791
|
| 1376 |
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161765.640566,86.94733712793791
|
| 1377 |
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161765.646039,86.95649273903416
|
| 1378 |
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161765.651128,86.95649273903416
|
| 1379 |
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161765.655562,86.95649273903416
|
| 1380 |
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161765.660611,86.94733712793791
|
| 1381 |
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161765.666115,86.94733712793791
|
| 1382 |
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161765.670622,86.94733712793791
|
| 1383 |
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161765.675591,86.94733712793791
|
| 1384 |
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161765.680564,86.94733712793791
|
| 1385 |
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161765.687296,86.94733712793791
|
| 1386 |
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161765.690559,86.94733712793791
|
| 1387 |
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161765.695615,86.95649273903416
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| 1388 |
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161765.700574,86.95649273903416
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|
multi_sessions_20251119_191847/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1387 +0,0 @@
|
|
| 1 |
-
161758.769438000 87.94874433785664
|
| 2 |
-
161758.774208000 87.94874433785664
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| 3 |
-
161758.779476000 87.94874433785664
|
| 4 |
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161758.786497000 87.94874433785664
|
| 5 |
-
161758.789779000 87.94874433785664
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| 6 |
-
161758.794197000 87.94874433785664
|
| 7 |
-
161758.799246000 87.95779494184795
|
| 8 |
-
161758.804731000 87.94874433785664
|
| 9 |
-
161758.809363000 87.94874433785664
|
| 10 |
-
161758.814236000 87.94874433785664
|
| 11 |
-
161758.820440000 87.94874433785664
|
| 12 |
-
161758.824198000 87.94874433785664
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| 13 |
-
161758.829200000 87.94874433785664
|
| 14 |
-
161758.835709000 87.95779494184795
|
| 15 |
-
161758.839258000 87.95779494184795
|
| 16 |
-
161758.844587000 87.95779494184795
|
| 17 |
-
161758.849402000 87.95779494184795
|
| 18 |
-
161758.854237000 87.95779494184795
|
| 19 |
-
161758.859238000 87.95779494184795
|
| 20 |
-
161758.864974000 87.94874433785664
|
| 21 |
-
161758.869364000 87.94874433785664
|
| 22 |
-
161758.874243000 87.94874433785664
|
| 23 |
-
161758.879239000 87.94874433785664
|
| 24 |
-
161758.886723000 87.94874433785664
|
| 25 |
-
161758.889817000 87.94874433785664
|
| 26 |
-
161758.894234000 87.94874433785664
|
| 27 |
-
161758.899238000 87.94874433785664
|
| 28 |
-
161758.904648000 87.94874433785664
|
| 29 |
-
161758.909239000 87.95779494184795
|
| 30 |
-
161758.914305000 87.95779494184795
|
| 31 |
-
161758.920608000 87.95779494184795
|
| 32 |
-
161758.924234000 87.94874433785664
|
| 33 |
-
161758.929260000 87.94874433785664
|
| 34 |
-
161758.935065000 87.94874433785664
|
| 35 |
-
161758.939245000 87.95779494184795
|
| 36 |
-
161758.944823000 87.95779494184795
|
| 37 |
-
161758.949499000 87.95779494184795
|
| 38 |
-
161758.954237000 87.95779494184795
|
| 39 |
-
161758.959238000 87.95779494184795
|
| 40 |
-
161758.965027000 87.94874433785664
|
| 41 |
-
161758.969494000 87.94874433785664
|
| 42 |
-
161758.974237000 87.94874433785664
|
| 43 |
-
161758.979240000 87.94874433785664
|
| 44 |
-
161758.986557000 87.94874433785664
|
| 45 |
-
161758.989887000 87.94874433785664
|
| 46 |
-
161758.994476000 87.94874433785664
|
| 47 |
-
161758.999292000 87.94874433785664
|
| 48 |
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161759.004917000 87.94874433785664
|
| 49 |
-
161759.009416000 87.94874433785664
|
| 50 |
-
161759.014234000 87.94874433785664
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161764.736256000 86.9931056995459
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161764.780606000 86.98395388223243
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161764.880420000 86.98395388223243
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multi_sessions_20251119_191847/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: 693
|
| 19 |
-
均值融合 (都低速): 693
|
| 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 19:19:33
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_191847/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,417 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,161758.771494
|
| 3 |
-
1,161758.785329
|
| 4 |
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2,161758.806379
|
| 5 |
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3,161758.818764
|
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|
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5,161758.852068
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10,161758.939212
|
| 13 |
-
11,161758.951844
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| 14 |
-
12,161758.971688
|
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14,161759.005007
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|
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16,161759.039161
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18,161759.071057
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|
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|
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80,161760.105486
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83,161760.152162
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|
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95,161760.352193
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|
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|
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|
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116,161760.703942
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|
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|
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|
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127,161760.885228
|
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|
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|
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|
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132,161760.971939
|
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133,161760.985498
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|
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|
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multi_sessions_20251119_191847/session_003/RGB_Images/video.mp4
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@@ -1,3 +0,0 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:356da2ce9a4fa1128b129a3981d0b0c9798ff0498c15d4ad1ab03551db2f5248
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size 3222146
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multi_sessions_20251119_191847/session_003/SLAM_Poses/slam_raw.txt
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multi_sessions_20251119_191847/session_003/Vive_Poses/offset_info.txt
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Vive 时间戳对齐信息
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============================================================
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对齐参数:
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SLAM 第一帧时间戳: 161758.769776s
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Vive 第一帧时间戳: 1763551164.647474s
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计算的 offset: -1763389405.877698s
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对齐公式: vive_aligned = vive_original + -1763389405.877698
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说明:
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- 所有保存的 Vive 数据已使用对齐后的时间戳
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- 时间戳已与 SLAM 数据对齐
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- 坐标已转换到 Gripper 坐标系
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生成时间: 2025-11-19 19:19:33
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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_191847/session_003/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_191847/session_004/Clamp_Data/clamp.csv
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timestamp,clamp
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multi_sessions_20251119_191847/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
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@@ -1,1480 +0,0 @@
|
|
| 1 |
-
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| 1368 |
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161781.308401000 87.44948449742859
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| 1369 |
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161781.313352000 87.45858778057632
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| 1370 |
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161781.319335000 87.45858778057632
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161781.323352000 87.45858778057632
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161781.328431000 87.44948449742859
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161781.333435000 87.44948449742859
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161781.339700000 87.44948449742859
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161781.343435000 87.45858778057632
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161781.485081000 87.45858778057632
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161781.750168000 87.48589190150977
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multi_sessions_20251119_191847/session_004/Merged_Trajectory/merge_stats.txt
DELETED
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@@ -1,37 +0,0 @@
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|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 740
|
| 19 |
-
均值融合 (都低速): 740
|
| 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 19:19:49
|
| 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_191847/session_004/Merged_Trajectory/merged_trajectory.csv
DELETED
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_191847/session_004/Merged_Trajectory/merged_trajectory.txt
DELETED
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The diff for this file is too large to render.
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multi_sessions_20251119_191847/session_004/RGB_Images/timestamps.csv
DELETED
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| 1 |
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frame_index,timestamp
|
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|
multi_sessions_20251119_191847/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:70f6e1bbc6a1a313d4dd29a751ff2ade1b2efcc3bdf66d677321e1c09335410d
|
| 3 |
-
size 3539222
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|
multi_sessions_20251119_191847/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/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: 161774.469786s
|
| 6 |
-
Vive 第一帧时间戳: 1763551180.347620s
|
| 7 |
-
计算的 offset: -1763389405.877834s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.877834
|
| 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 19:19:49
|
| 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_191847/session_004/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_191847/session_005/Clamp_Data/clamp.csv
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161796.295978,87.33105499399606
|
| 1398 |
-
161796.300974,87.32193835760535
|
| 1399 |
-
161796.306788,87.33105499399606
|
| 1400 |
-
161796.310993,87.33105499399606
|
| 1401 |
-
161796.316797,87.32193835760535
|
| 1402 |
-
161796.320979,87.32193835760535
|
| 1403 |
-
161796.325978,87.32193835760535
|
| 1404 |
-
161796.331889,87.32193835760535
|
| 1405 |
-
161796.336104,87.32193835760535
|
| 1406 |
-
161796.341029,87.32193835760535
|
| 1407 |
-
161796.346073,87.32193835760535
|
| 1408 |
-
161796.353992,87.32193835760535
|
| 1409 |
-
161796.357543,87.33105499399606
|
| 1410 |
-
161796.360972,87.33105499399606
|
| 1411 |
-
161796.365986,87.33105499399606
|
| 1412 |
-
161796.37122,87.33105499399606
|
| 1413 |
-
161796.375976,87.33105499399606
|
| 1414 |
-
161796.380977,87.33105499399606
|
| 1415 |
-
161796.387655,87.33105499399606
|
| 1416 |
-
161796.390975,87.32193835760535
|
| 1417 |
-
161796.395978,87.32193835760535
|
| 1418 |
-
161796.401251,87.32193835760535
|
| 1419 |
-
161796.406011,87.32193835760535
|
| 1420 |
-
161796.411438,87.32193835760535
|
| 1421 |
-
161796.419015,87.32193835760535
|
| 1422 |
-
161796.422558,87.32193835760535
|
| 1423 |
-
161796.426019,87.33105499399606
|
| 1424 |
-
161796.431604,87.33105499399606
|
| 1425 |
-
161796.436056,87.33105499399606
|
| 1426 |
-
161796.440978,87.33105499399606
|
| 1427 |
-
161796.44607,87.33105499399606
|
| 1428 |
-
161796.452889,87.33105499399606
|
| 1429 |
-
161796.456544,87.33105499399606
|
| 1430 |
-
161796.460972,87.33105499399606
|
| 1431 |
-
161796.466011,87.33105499399606
|
| 1432 |
-
161796.471742,87.33105499399606
|
| 1433 |
-
161796.47601,87.32193835760535
|
| 1434 |
-
161796.481008,87.33105499399606
|
| 1435 |
-
161796.487585,87.33105499399606
|
| 1436 |
-
161796.491005,87.33105499399606
|
| 1437 |
-
161796.496032,87.32193835760535
|
| 1438 |
-
161796.501117,87.33105499399606
|
| 1439 |
-
161796.506021,87.33105499399606
|
| 1440 |
-
161796.511613,87.33105499399606
|
| 1441 |
-
161796.519182,87.33105499399606
|
| 1442 |
-
161796.522589,87.32193835760535
|
| 1443 |
-
161796.526008,87.32193835760535
|
| 1444 |
-
161796.531023,87.32193835760535
|
| 1445 |
-
161796.536679,87.33105499399606
|
| 1446 |
-
161796.541085,87.32193835760535
|
| 1447 |
-
161796.546011,87.32193835760535
|
| 1448 |
-
161796.553805,87.33105499399606
|
| 1449 |
-
161796.557579,87.33105499399606
|
| 1450 |
-
161796.561004,87.33105499399606
|
| 1451 |
-
161796.566207,87.33105499399606
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|
multi_sessions_20251119_191847/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1450 +0,0 @@
|
|
| 1 |
-
161789.320172000 87.94874433785664
|
| 2 |
-
161789.324632000 87.94874433785664
|
| 3 |
-
161789.329671000 87.94874433785664
|
| 4 |
-
161789.334898000 87.94874433785664
|
| 5 |
-
161789.339640000 87.94874433785664
|
| 6 |
-
161789.344648000 87.94874433785664
|
| 7 |
-
161789.353088000 87.94874433785664
|
| 8 |
-
161789.356238000 87.94874433785664
|
| 9 |
-
161789.359638000 87.94874433785664
|
| 10 |
-
161789.364659000 87.95779494184795
|
| 11 |
-
161789.369933000 87.94874433785664
|
| 12 |
-
161789.374639000 87.94874433785664
|
| 13 |
-
161789.379669000 87.94874433785664
|
| 14 |
-
161789.386693000 87.94874433785664
|
| 15 |
-
161789.390211000 87.94874433785664
|
| 16 |
-
161789.394643000 87.94874433785664
|
| 17 |
-
161789.399669000 87.93969277293971
|
| 18 |
-
161789.404650000 87.93969277293971
|
| 19 |
-
161789.409652000 87.93969277293971
|
| 20 |
-
161789.414645000 87.94874433785664
|
| 21 |
-
161789.420096000 87.94874433785664
|
| 22 |
-
161789.424642000 87.94874433785664
|
| 23 |
-
161789.429743000 87.94874433785664
|
| 24 |
-
161789.435001000 87.94874433785664
|
| 25 |
-
161789.439641000 87.94874433785664
|
| 26 |
-
161789.444676000 87.94874433785664
|
| 27 |
-
161789.453032000 87.94874433785664
|
| 28 |
-
161789.456212000 87.94874433785664
|
| 29 |
-
161789.459636000 87.94874433785664
|
| 30 |
-
161789.464994000 87.94874433785664
|
| 31 |
-
161789.469861000 87.94874433785664
|
| 32 |
-
161789.474665000 87.94874433785664
|
| 33 |
-
161789.479645000 87.94874433785664
|
| 34 |
-
161789.487020000 87.94874433785664
|
| 35 |
-
161789.490213000 87.94874433785664
|
| 36 |
-
161789.494639000 87.94874433785664
|
| 37 |
-
161789.499644000 87.94874433785664
|
| 38 |
-
161789.504818000 87.94874433785664
|
| 39 |
-
161789.509648000 87.95779494184795
|
| 40 |
-
161789.514728000 87.94874433785664
|
| 41 |
-
161789.519955000 87.94874433785664
|
| 42 |
-
161789.524642000 87.93969277293971
|
| 43 |
-
161789.529649000 87.94874433785664
|
| 44 |
-
161789.534957000 87.94874433785664
|
| 45 |
-
161789.539693000 87.94874433785664
|
| 46 |
-
161789.544654000 87.94874433785664
|
| 47 |
-
161789.553286000 87.94874433785664
|
| 48 |
-
161789.556217000 87.94874433785664
|
| 49 |
-
161789.559655000 87.94874433785664
|
| 50 |
-
161789.564649000 87.94874433785664
|
| 51 |
-
161789.569718000 87.94874433785664
|
| 52 |
-
161789.574647000 87.94874433785664
|
| 53 |
-
161789.579649000 87.94874433785664
|
| 54 |
-
161789.586709000 87.94874433785664
|
| 55 |
-
161789.590217000 87.94874433785664
|
| 56 |
-
161789.594650000 87.94874433785664
|
| 57 |
-
161789.599663000 87.94874433785664
|
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multi_sessions_20251119_191847/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: 725
|
| 19 |
-
均值融合 (都低速): 725
|
| 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 19:20:03
|
| 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_191847/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,437 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,161789.306107
|
| 3 |
-
1,161789.320472
|
| 4 |
-
2,161789.336967
|
| 5 |
-
3,161789.352451
|
| 6 |
-
4,161789.370908
|
| 7 |
-
5,161789.386055
|
| 8 |
-
6,161789.404824
|
| 9 |
-
7,161789.418688
|
| 10 |
-
8,161789.436856
|
| 11 |
-
9,161789.45217
|
| 12 |
-
10,161789.471072
|
| 13 |
-
11,161789.486188
|
| 14 |
-
12,161789.506239
|
| 15 |
-
13,161789.520299
|
| 16 |
-
14,161789.538406
|
| 17 |
-
15,161789.552542
|
| 18 |
-
16,161789.570751
|
| 19 |
-
17,161789.585776
|
| 20 |
-
18,161789.604761
|
| 21 |
-
19,161789.618724
|
| 22 |
-
20,161789.636845
|
| 23 |
-
21,161789.652304
|
| 24 |
-
22,161789.670659
|
| 25 |
-
23,161789.685896
|
| 26 |
-
24,161789.704486
|
| 27 |
-
25,161789.718796
|
| 28 |
-
26,161789.738349
|
| 29 |
-
27,161789.752437
|
| 30 |
-
28,161789.770871
|
| 31 |
-
29,161789.786525
|
| 32 |
-
30,161789.806578
|
| 33 |
-
31,161789.818991
|
| 34 |
-
32,161789.837074
|
| 35 |
-
33,161789.852348
|
| 36 |
-
34,161789.870777
|
| 37 |
-
35,161789.885984
|
| 38 |
-
36,161789.904454
|
| 39 |
-
37,161789.918761
|
| 40 |
-
38,161789.938367
|
| 41 |
-
39,161789.954573
|
| 42 |
-
40,161789.970983
|
| 43 |
-
41,161789.985841
|
| 44 |
-
42,161790.004857
|
| 45 |
-
43,161790.018913
|
| 46 |
-
44,161790.036931
|
| 47 |
-
45,161790.05232
|
| 48 |
-
46,161790.072614
|
| 49 |
-
47,161790.086409
|
| 50 |
-
48,161790.104668
|
| 51 |
-
49,161790.12034
|
| 52 |
-
50,161790.138379
|
| 53 |
-
51,161790.155091
|
| 54 |
-
52,161790.175252
|
| 55 |
-
53,161790.185595
|
| 56 |
-
54,161790.205935
|
| 57 |
-
55,161790.219177
|
| 58 |
-
56,161790.237126
|
| 59 |
-
57,161790.252337
|
| 60 |
-
58,161790.270389
|
| 61 |
-
59,161790.286028
|
| 62 |
-
60,161790.30471
|
| 63 |
-
61,161790.31889
|
| 64 |
-
62,161790.336646
|
| 65 |
-
63,161790.352348
|
| 66 |
-
64,161790.370944
|
| 67 |
-
65,161790.386107
|
| 68 |
-
66,161790.404241
|
| 69 |
-
67,161790.419007
|
| 70 |
-
68,161790.436889
|
| 71 |
-
69,161790.45248
|
| 72 |
-
70,161790.470449
|
| 73 |
-
71,161790.485985
|
| 74 |
-
72,161790.504979
|
| 75 |
-
73,161790.518784
|
| 76 |
-
74,161790.536832
|
| 77 |
-
75,161790.552559
|
| 78 |
-
76,161790.570957
|
| 79 |
-
77,161790.586143
|
| 80 |
-
78,161790.603537
|
| 81 |
-
79,161790.620485
|
| 82 |
-
80,161790.637009
|
| 83 |
-
81,161790.652596
|
| 84 |
-
82,161790.670373
|
| 85 |
-
83,161790.686146
|
| 86 |
-
84,161790.703465
|
| 87 |
-
85,161790.718518
|
| 88 |
-
86,161790.736937
|
| 89 |
-
87,161790.752894
|
| 90 |
-
88,161790.770908
|
| 91 |
-
89,161790.785843
|
| 92 |
-
90,161790.806235
|
| 93 |
-
91,161790.81921
|
| 94 |
-
92,161790.837258
|
| 95 |
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multi_sessions_20251119_191847/session_005/RGB_Images/video.mp4
DELETED
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@@ -1,3 +0,0 @@
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| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:a57f4740ae301cafa0c4e97a746dd80633afe4dd53468c3cbe038c9073adf057
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| 3 |
-
size 3534566
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multi_sessions_20251119_191847/session_005/SLAM_Poses/slam_raw.txt
DELETED
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The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_191847/session_005/Vive_Poses/offset_info.txt
DELETED
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@@ -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: 161789.317782s
|
| 6 |
-
Vive 第一帧时间戳: 1763551195.197758s
|
| 7 |
-
计算的 offset: -1763389405.879976s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.879976
|
| 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 19:20:03
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
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