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- .gitattributes +5 -0
- pick_coke/session_001/Clamp_Data/clamp_data_tum.txt +1774 -0
- pick_coke/session_001/Merged_Trajectory/merge_stats.txt +27 -0
- pick_coke/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- pick_coke/session_001/RGB_Images/raw_meta.json +8 -0
- pick_coke/session_001/RGB_Images/timestamps.csv +533 -0
- pick_coke/session_001/RGB_Images/video.mp4 +3 -0
- pick_coke/session_001/SLAM_Poses/slam_raw.txt +0 -0
- pick_coke/session_001/Vive_Poses/offset_info.txt +15 -0
- pick_coke/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- pick_coke/session_002/Clamp_Data/clamp_data_tum.txt +1755 -0
- pick_coke/session_002/Merged_Trajectory/merge_stats.txt +27 -0
- pick_coke/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- pick_coke/session_002/RGB_Images/raw_meta.json +8 -0
- pick_coke/session_002/RGB_Images/timestamps.csv +527 -0
- pick_coke/session_002/RGB_Images/video.mp4 +3 -0
- pick_coke/session_002/SLAM_Poses/slam_raw.txt +0 -0
- pick_coke/session_002/Vive_Poses/offset_info.txt +15 -0
- pick_coke/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- pick_coke/session_003/Clamp_Data/clamp_data_tum.txt +1718 -0
- pick_coke/session_003/Merged_Trajectory/merge_stats.txt +27 -0
- pick_coke/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- pick_coke/session_003/RGB_Images/raw_meta.json +8 -0
- pick_coke/session_003/RGB_Images/timestamps.csv +517 -0
- pick_coke/session_003/RGB_Images/video.mp4 +3 -0
- pick_coke/session_003/SLAM_Poses/slam_raw.txt +0 -0
- pick_coke/session_003/Vive_Poses/offset_info.txt +15 -0
- pick_coke/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- pick_coke/session_004/Clamp_Data/clamp_data_tum.txt +1445 -0
- pick_coke/session_004/Merged_Trajectory/merge_stats.txt +27 -0
- pick_coke/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- pick_coke/session_004/RGB_Images/raw_meta.json +8 -0
- pick_coke/session_004/RGB_Images/timestamps.csv +434 -0
- pick_coke/session_004/RGB_Images/video.mp4 +3 -0
- pick_coke/session_004/SLAM_Poses/slam_raw.txt +0 -0
- pick_coke/session_004/Vive_Poses/offset_info.txt +15 -0
- pick_coke/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- pick_coke/session_005/Clamp_Data/clamp_data_tum.txt +1624 -0
- pick_coke/session_005/Merged_Trajectory/merge_stats.txt +27 -0
- pick_coke/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- pick_coke/session_005/RGB_Images/raw_meta.json +8 -0
- pick_coke/session_005/RGB_Images/timestamps.csv +489 -0
- pick_coke/session_005/RGB_Images/video.mp4 +3 -0
- pick_coke/session_005/SLAM_Poses/slam_raw.txt +0 -0
- pick_coke/session_005/Vive_Poses/offset_info.txt +15 -0
- pick_coke/session_005/Vive_Poses/vive_data_tum.txt +0 -0
- pick_coke/session_006/Clamp_Data/clamp_data_tum.txt +1509 -0
- pick_coke/session_006/Merged_Trajectory/merge_stats.txt +27 -0
- pick_coke/session_006/Merged_Trajectory/merged_trajectory.txt +0 -0
- pick_coke/session_006/RGB_Images/frames.bgr8 +3 -0
.gitattributes
CHANGED
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@@ -57,3 +57,8 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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| 57 |
# Video files - compressed
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| 58 |
*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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+
pick_coke/session_006/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
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+
pick_coke/session_007/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
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| 62 |
+
pick_coke/session_008/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
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| 63 |
+
pick_coke/session_009/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
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+
pick_coke/session_010/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
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pick_coke/session_001/Clamp_Data/clamp_data_tum.txt
ADDED
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22947.680806000 86.47914629422931
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22947.688092000 86.47914629422931
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22947.691714000 86.47914629422931
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22947.695839000 86.47914629422931
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| 1695 |
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22947.701038000 86.48835011202152
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| 1696 |
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22947.705925000 86.47914629422931
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| 1697 |
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22947.711964000 86.47914629422931
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| 1698 |
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22947.715818000 86.47914629422931
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| 1699 |
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22947.720855000 86.47914629422931
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22947.725956000 86.48835011202152
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| 1701 |
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22947.730989000 86.48835011202152
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| 1702 |
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22947.738005000 86.48835011202152
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| 1703 |
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22947.741665000 86.47914629422931
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22947.746325000 86.47914629422931
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22947.750809000 86.47914629422931
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22947.755804000 86.46994153425453
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22947.760792000 86.46994153425453
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22947.780793000 86.47914629422931
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22947.915802000 86.47914629422931
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22947.925826000 86.47914629422931
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| 1741 |
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22947.930795000 86.47914629422931
|
| 1742 |
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22947.936176000 86.47914629422931
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| 1743 |
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22947.940796000 86.47914629422931
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22947.946639000 86.47914629422931
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| 1745 |
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22947.950800000 86.47914629422931
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22947.960795000 86.48835011202152
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22947.971744000 86.47914629422931
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22947.980794000 86.47914629422931
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22947.990852000 86.47914629422931
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22947.995803000 86.48835011202152
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22948.022530000 86.48835011202152
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22948.025953000 86.48835011202152
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22948.080790000 86.48835011202152
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22948.095848000 86.47914629422931
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pick_coke/session_001/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
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|
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|
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|
|
|
| 1 |
+
轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
时间匹配阈值: 0.01 s
|
| 7 |
+
基准传感器: VIVE (100Hz)
|
| 8 |
+
辅助传感器: SLAM (500Hz)
|
| 9 |
+
|
| 10 |
+
融合结果统计:
|
| 11 |
+
total_merged: 887
|
| 12 |
+
averaged: 887
|
| 13 |
+
use_slam: 0
|
| 14 |
+
use_vive: 0
|
| 15 |
+
both_high: 0
|
| 16 |
+
skipped: 0
|
| 17 |
+
no_match: 0
|
| 18 |
+
|
| 19 |
+
策略占比:
|
| 20 |
+
均值融合: 100.0%
|
| 21 |
+
使用SLAM: 0.0%
|
| 22 |
+
使用VIVE: 0.0%
|
| 23 |
+
|
| 24 |
+
生成时间: 2025-12-02 20:32:31
|
| 25 |
+
设备标签: main
|
| 26 |
+
XV 序列号: 250801DR48FP25002087
|
| 27 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_001/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_001/RGB_Images/raw_meta.json
ADDED
|
@@ -0,0 +1,8 @@
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|
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|
| 1 |
+
{
|
| 2 |
+
"width": 1920,
|
| 3 |
+
"height": 1080,
|
| 4 |
+
"channels": 3,
|
| 5 |
+
"dtype": "uint8",
|
| 6 |
+
"format": "bgr8",
|
| 7 |
+
"stride_bytes": 6220800
|
| 8 |
+
}
|
pick_coke/session_001/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,533 @@
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504,2299,22947.621788000,22947.631590000
|
| 507 |
+
505,2300,22947.637265000,22947.647067000
|
| 508 |
+
506,2301,22947.654074000,22947.663876000
|
| 509 |
+
507,2302,22947.671231000,22947.681033000
|
| 510 |
+
508,2303,22947.687335000,22947.697137000
|
| 511 |
+
509,2304,22947.703813000,22947.713615000
|
| 512 |
+
510,2305,22947.721931000,22947.731733000
|
| 513 |
+
511,2306,22947.737480000,22947.747282000
|
| 514 |
+
512,2307,22947.754228000,22947.764030000
|
| 515 |
+
513,2308,22947.770970000,22947.780772000
|
| 516 |
+
514,2309,22947.788346000,22947.798148000
|
| 517 |
+
515,2310,22947.805207000,22947.815009000
|
| 518 |
+
516,2311,22947.821237000,22947.831039000
|
| 519 |
+
517,2312,22947.837247000,22947.847049000
|
| 520 |
+
518,2313,22947.854142000,22947.863944000
|
| 521 |
+
519,2314,22947.871257000,22947.881059000
|
| 522 |
+
520,2315,22947.887590000,22947.897392000
|
| 523 |
+
521,2316,22947.903844000,22947.913646000
|
| 524 |
+
522,2317,22947.920565000,22947.930367000
|
| 525 |
+
523,2318,22947.937688000,22947.947490000
|
| 526 |
+
524,2319,22947.954149000,22947.963951000
|
| 527 |
+
525,2320,22947.971046000,22947.980848000
|
| 528 |
+
526,2321,22947.988231000,22947.998033000
|
| 529 |
+
527,2322,22948.008581000,22948.018383000
|
| 530 |
+
528,2323,22948.021775000,22948.031577000
|
| 531 |
+
529,2324,22948.037374000,22948.047176000
|
| 532 |
+
530,2325,22948.054148000,22948.063950000
|
| 533 |
+
531,2326,22948.071246000,22948.081048000
|
pick_coke/session_001/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:477f8858701d3d9dbd83d5ab1ece6b8249f52f47289784503a9774e92f68e63a
|
| 3 |
+
size 23554209
|
pick_coke/session_001/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_001/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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: 22939.231910s
|
| 6 |
+
Vive 第一帧时间戳: 1764678742.110999s
|
| 7 |
+
说明:
|
| 8 |
+
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 9 |
+
- 时间戳已与 SLAM 数据对齐
|
| 10 |
+
- 坐标已转换到 Gripper 坐标系
|
| 11 |
+
|
| 12 |
+
生成时间: 2025-12-02 20:32:31
|
| 13 |
+
设备标签: main
|
| 14 |
+
XV 序列号: 250801DR48FP25002087
|
| 15 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_001/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_002/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1755 @@
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| 1687 |
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23185.816604000 86.38705631564088
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| 1688 |
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23185.821452000 86.37784214029932
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| 1689 |
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23185.826533000 86.37784214029932
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| 1690 |
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23185.831683000 86.37784214029932
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| 1691 |
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23185.836464000 86.38705631564088
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| 1692 |
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23185.841453000 86.38705631564088
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| 1693 |
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23185.847515000 86.38705631564088
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| 1694 |
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23185.851450000 86.38705631564088
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| 1695 |
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23185.856519000 86.38705631564088
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| 1696 |
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23185.861688000 86.38705631564088
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| 1697 |
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23185.867675000 86.38705631564088
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| 1698 |
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23185.871469000 86.38705631564088
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| 1699 |
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23185.876458000 86.38705631564088
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| 1700 |
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23185.881634000 86.38705631564088
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| 1701 |
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23185.886463000 86.39626954997438
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| 1706 |
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23185.911453000 86.39626954997438
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23185.917228000 86.39626954997438
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| 1708 |
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23185.921452000 86.39626954997438
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| 1709 |
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| 1710 |
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| 1714 |
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| 1716 |
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23185.966521000 86.39626954997438
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| 1718 |
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23185.971450000 86.39626954997438
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| 1719 |
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23185.976491000 86.39626954997438
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| 1720 |
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23185.981503000 86.39626954997438
|
| 1721 |
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23185.986651000 86.39626954997438
|
| 1722 |
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23185.991752000 86.39626954997438
|
| 1723 |
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23185.996880000 86.39626954997438
|
| 1724 |
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23186.001463000 86.39626954997438
|
| 1725 |
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|
| 1726 |
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23186.011455000 86.39626954997438
|
| 1727 |
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23186.017258000 86.39626954997438
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| 1728 |
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23186.021456000 86.39626954997438
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23186.026718000 86.39626954997438
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| 1730 |
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23186.031550000 86.39626954997438
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| 1732 |
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| 1733 |
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23186.047402000 86.39626954997438
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| 1735 |
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| 1754 |
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|
| 1755 |
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23186.156457000 86.40548184318232
|
pick_coke/session_002/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
时间匹配阈值: 0.01 s
|
| 7 |
+
基准传感器: VIVE (100Hz)
|
| 8 |
+
辅助传感器: SLAM (500Hz)
|
| 9 |
+
|
| 10 |
+
融合结果统计:
|
| 11 |
+
total_merged: 877
|
| 12 |
+
averaged: 877
|
| 13 |
+
use_slam: 0
|
| 14 |
+
use_vive: 0
|
| 15 |
+
both_high: 0
|
| 16 |
+
skipped: 0
|
| 17 |
+
no_match: 0
|
| 18 |
+
|
| 19 |
+
策略占比:
|
| 20 |
+
均值融合: 100.0%
|
| 21 |
+
使用SLAM: 0.0%
|
| 22 |
+
使用VIVE: 0.0%
|
| 23 |
+
|
| 24 |
+
生成时间: 2025-12-02 20:36:29
|
| 25 |
+
设备标签: main
|
| 26 |
+
XV 序列号: 250801DR48FP25002087
|
| 27 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_002/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_002/RGB_Images/raw_meta.json
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
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|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"width": 1920,
|
| 3 |
+
"height": 1080,
|
| 4 |
+
"channels": 3,
|
| 5 |
+
"dtype": "uint8",
|
| 6 |
+
"format": "bgr8",
|
| 7 |
+
"stride_bytes": 6220800
|
| 8 |
+
}
|
pick_coke/session_002/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,527 @@
|
|
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|
| 1 |
+
frame_index,seq,header_stamp,aligned_stamp
|
| 2 |
+
0,16087,23177.383859000,23177.389886000
|
| 3 |
+
1,16088,23177.400932000,23177.406959000
|
| 4 |
+
2,16089,23177.419275000,23177.425302000
|
| 5 |
+
3,16090,23177.433737000,23177.439764000
|
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513,16600,23185.934293000,23185.940320000
|
| 516 |
+
514,16601,23185.950262000,23185.956289000
|
| 517 |
+
515,16602,23185.966671000,23185.972698000
|
| 518 |
+
516,16603,23185.983259000,23185.989286000
|
| 519 |
+
517,16604,23185.998678000,23186.004705000
|
| 520 |
+
518,16605,23186.015658000,23186.021685000
|
| 521 |
+
519,16606,23186.034068000,23186.040095000
|
| 522 |
+
520,16607,23186.049986000,23186.056013000
|
| 523 |
+
521,16608,23186.065602000,23186.071629000
|
| 524 |
+
522,16609,23186.083319000,23186.089346000
|
| 525 |
+
523,16610,23186.098725000,23186.104752000
|
| 526 |
+
524,16611,23186.116316000,23186.122343000
|
| 527 |
+
525,16612,23186.132664000,23186.138691000
|
pick_coke/session_002/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:75c377e43a1a3422c14fa6d1324095509e674c1f96b134e6ce925b4f312d7a41
|
| 3 |
+
size 23592328
|
pick_coke/session_002/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_002/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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: 23177.389886s
|
| 6 |
+
Vive 第一帧时间戳: 1764678980.271390s
|
| 7 |
+
说明:
|
| 8 |
+
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 9 |
+
- 时间戳已与 SLAM 数据对齐
|
| 10 |
+
- 坐标已转换到 Gripper 坐标系
|
| 11 |
+
|
| 12 |
+
生成时间: 2025-12-02 20:36:29
|
| 13 |
+
设备标签: main
|
| 14 |
+
XV 序列号: 250801DR48FP25002087
|
| 15 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_002/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_003/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1718 @@
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23032.171015000 86.37784214029932
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23032.176207000 86.37784214029932
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23032.201046000 86.37784214029932
|
| 1646 |
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23032.206011000 86.37784214029932
|
| 1647 |
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23032.211742000 86.37784214029932
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| 1648 |
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23032.216025000 86.37784214029932
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| 1649 |
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23032.223668000 86.37784214029932
|
| 1650 |
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23032.226876000 86.37784214029932
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23032.231325000 86.37784214029932
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23032.236023000 86.37784214029932
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23032.241246000 86.37784214029932
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23032.246019000 86.37784214029932
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23032.251675000 86.37784214029932
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23032.257077000 86.37784214029932
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23032.261025000 86.37784214029932
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23032.266027000 86.37784214029932
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23032.271507000 86.37784214029932
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| 1660 |
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23032.276029000 86.38705631564088
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23032.281154000 86.37784214029932
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23032.286020000 86.37784214029932
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23032.291532000 86.37784214029932
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23032.296055000 86.37784214029932
|
| 1665 |
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23032.301020000 86.37784214029932
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23032.308409000 86.37784214029932
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| 1667 |
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23032.311867000 86.37784214029932
|
| 1668 |
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23032.316028000 86.37784214029932
|
| 1669 |
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23032.324906000 86.37784214029932
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23032.327861000 86.37784214029932
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23032.332041000 86.38705631564088
|
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23032.336289000 86.38705631564088
|
| 1673 |
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23032.341123000 86.38705631564088
|
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23032.346120000 86.38705631564088
|
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23032.351020000 86.38705631564088
|
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23032.356878000 86.37784214029932
|
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23032.361021000 86.38705631564088
|
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23032.366296000 86.38705631564088
|
| 1679 |
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23032.371057000 86.38705631564088
|
| 1680 |
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23032.376055000 86.38705631564088
|
| 1681 |
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23032.381039000 86.38705631564088
|
| 1682 |
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23032.386703000 86.38705631564088
|
| 1683 |
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23032.391524000 86.38705631564088
|
| 1684 |
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23032.396025000 86.38705631564088
|
| 1685 |
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23032.401015000 86.38705631564088
|
| 1686 |
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23032.406026000 86.38705631564088
|
| 1687 |
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23032.412026000 86.38705631564088
|
| 1688 |
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23032.416024000 86.38705631564088
|
| 1689 |
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23032.423594000 86.38705631564088
|
| 1690 |
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23032.426862000 86.38705631564088
|
| 1691 |
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23032.431357000 86.38705631564088
|
| 1692 |
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23032.436021000 86.38705631564088
|
| 1693 |
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23032.441127000 86.38705631564088
|
| 1694 |
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23032.446028000 86.39626954997438
|
| 1695 |
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23032.451664000 86.38705631564088
|
| 1696 |
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23032.456706000 86.38705631564088
|
| 1697 |
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23032.461022000 86.38705631564088
|
| 1698 |
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23032.466024000 86.38705631564088
|
| 1699 |
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23032.471869000 86.38705631564088
|
| 1700 |
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23032.476065000 86.38705631564088
|
| 1701 |
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23032.481181000 86.38705631564088
|
| 1702 |
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23032.486620000 86.38705631564088
|
| 1703 |
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23032.491565000 86.38705631564088
|
| 1704 |
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23032.496024000 86.38705631564088
|
| 1705 |
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23032.501018000 86.38705631564088
|
| 1706 |
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23032.506031000 86.38705631564088
|
| 1707 |
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23032.511762000 86.38705631564088
|
| 1708 |
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23032.516026000 86.38705631564088
|
| 1709 |
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23032.521624000 86.38705631564088
|
| 1710 |
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23032.526869000 86.38705631564088
|
| 1711 |
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23032.531016000 86.38705631564088
|
| 1712 |
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23032.536027000 86.38705631564088
|
| 1713 |
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23032.541072000 86.38705631564088
|
| 1714 |
+
23032.546102000 86.38705631564088
|
| 1715 |
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23032.552113000 86.38705631564088
|
| 1716 |
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23032.556874000 86.38705631564088
|
| 1717 |
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23032.561048000 86.38705631564088
|
| 1718 |
+
23032.566387000 86.38705631564088
|
pick_coke/session_003/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,27 @@
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| 1 |
+
轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
时间匹配阈值: 0.01 s
|
| 7 |
+
基准传感器: VIVE (100Hz)
|
| 8 |
+
辅助传感器: SLAM (500Hz)
|
| 9 |
+
|
| 10 |
+
融合结果统计:
|
| 11 |
+
total_merged: 859
|
| 12 |
+
averaged: 859
|
| 13 |
+
use_slam: 0
|
| 14 |
+
use_vive: 0
|
| 15 |
+
both_high: 0
|
| 16 |
+
skipped: 0
|
| 17 |
+
no_match: 0
|
| 18 |
+
|
| 19 |
+
策略占比:
|
| 20 |
+
均值融合: 100.0%
|
| 21 |
+
使用SLAM: 0.0%
|
| 22 |
+
使用VIVE: 0.0%
|
| 23 |
+
|
| 24 |
+
生成时间: 2025-12-02 20:33:55
|
| 25 |
+
设备标签: main
|
| 26 |
+
XV 序列号: 250801DR48FP25002087
|
| 27 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_003/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
pick_coke/session_003/RGB_Images/raw_meta.json
ADDED
|
@@ -0,0 +1,8 @@
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| 1 |
+
{
|
| 2 |
+
"width": 1920,
|
| 3 |
+
"height": 1080,
|
| 4 |
+
"channels": 3,
|
| 5 |
+
"dtype": "uint8",
|
| 6 |
+
"format": "bgr8",
|
| 7 |
+
"stride_bytes": 6220800
|
| 8 |
+
}
|
pick_coke/session_003/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,517 @@
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|
| 1 |
+
frame_index,seq,header_stamp,aligned_stamp
|
| 2 |
+
0,6881,23023.978115000,23023.981886000
|
| 3 |
+
1,6882,23023.991795000,23023.995566000
|
| 4 |
+
2,6883,23024.009766000,23024.013537000
|
| 5 |
+
3,6884,23024.026141000,23024.029912000
|
| 6 |
+
4,6885,23024.043917000,23024.047688000
|
| 7 |
+
5,6886,23024.058117000,23024.061888000
|
| 8 |
+
6,6887,23024.078744000,23024.082515000
|
| 9 |
+
7,6888,23024.093256000,23024.097027000
|
| 10 |
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8,6889,23024.110607000,23024.114378000
|
| 11 |
+
9,6890,23024.124995000,23024.128766000
|
| 12 |
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10,6891,23024.145116000,23024.148887000
|
| 13 |
+
11,6892,23024.158099000,23024.161870000
|
| 14 |
+
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|
| 15 |
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13,6894,23024.193317000,23024.197088000
|
| 16 |
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14,6895,23024.210368000,23024.214139000
|
| 17 |
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|
| 18 |
+
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|
| 19 |
+
17,6898,23024.258259000,23024.262030000
|
| 20 |
+
18,6899,23024.278611000,23024.282382000
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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29,6910,23024.458142000,23024.461913000
|
| 32 |
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30,6911,23024.474946000,23024.478717000
|
| 33 |
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31,6912,23024.491722000,23024.495493000
|
| 34 |
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32,6913,23024.509805000,23024.513576000
|
| 35 |
+
33,6914,23024.525008000,23024.528779000
|
| 36 |
+
34,6915,23024.542685000,23024.546456000
|
| 37 |
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35,6916,23024.558040000,23024.561811000
|
| 38 |
+
36,6917,23024.577198000,23024.580969000
|
| 39 |
+
37,6918,23024.592081000,23024.595852000
|
| 40 |
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38,6919,23024.609520000,23024.613291000
|
| 41 |
+
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|
| 42 |
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40,6921,23024.643101000,23024.646872000
|
| 43 |
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41,6922,23024.658456000,23024.662227000
|
| 44 |
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42,6923,23024.677381000,23024.681152000
|
| 45 |
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43,6924,23024.691301000,23024.695072000
|
| 46 |
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44,6925,23024.711180000,23024.714951000
|
| 47 |
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45,6926,23024.725134000,23024.728905000
|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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49,6930,23024.792073000,23024.795844000
|
| 52 |
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50,6931,23024.809246000,23024.813017000
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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59,6940,23024.957978000,23024.961749000
|
| 62 |
+
60,6941,23024.977440000,23024.981211000
|
| 63 |
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61,6942,23024.993387000,23024.997158000
|
| 64 |
+
62,6943,23025.009335000,23025.013106000
|
| 65 |
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63,6944,23025.024701000,23025.028472000
|
| 66 |
+
64,6945,23025.045037000,23025.048808000
|
| 67 |
+
65,6946,23025.060989000,23025.064760000
|
| 68 |
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66,6947,23025.077110000,23025.080881000
|
| 69 |
+
67,6948,23025.091300000,23025.095071000
|
| 70 |
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68,6949,23025.110084000,23025.113855000
|
| 71 |
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69,6950,23025.125001000,23025.128772000
|
| 72 |
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70,6951,23025.142778000,23025.146549000
|
| 73 |
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71,6952,23025.158049000,23025.161820000
|
| 74 |
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72,6953,23025.177885000,23025.181656000
|
| 75 |
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73,6954,23025.193318000,23025.197089000
|
| 76 |
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74,6955,23025.209478000,23025.213249000
|
| 77 |
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75,6956,23025.224703000,23025.228474000
|
| 78 |
+
76,6957,23025.245912000,23025.249683000
|
| 79 |
+
77,6958,23025.258775000,23025.262546000
|
| 80 |
+
78,6959,23025.277310000,23025.281081000
|
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pick_coke/session_003/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b64792bec0aafb47560d09dbcc8913a161556a8068e474586a564066c3d03035
|
| 3 |
+
size 23016042
|
pick_coke/session_003/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_003/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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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: 23023.981886s
|
| 6 |
+
Vive 第一帧时间戳: 1764678826.860964s
|
| 7 |
+
说明:
|
| 8 |
+
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 9 |
+
- 时间戳已与 SLAM 数据对齐
|
| 10 |
+
- 坐标已转换到 Gripper 坐标系
|
| 11 |
+
|
| 12 |
+
生成时间: 2025-12-02 20:33:55
|
| 13 |
+
设备标签: main
|
| 14 |
+
XV 序列号: 250801DR48FP25002087
|
| 15 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_003/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_004/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1445 @@
|
|
|
|
|
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23045.051053000 86.39626954997438
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| 1346 |
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23045.056539000 86.39626954997438
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23045.061050000 86.39626954997438
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23045.066058000 86.40548184318232
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23045.189441000 86.40548184318232
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23045.251043000 86.41469319514721
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23045.388554000 86.41469319514721
|
| 1413 |
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23045.391891000 86.41469319514721
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| 1414 |
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23045.396048000 86.41469319514721
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| 1415 |
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23045.401071000 86.41469319514721
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23045.406079000 86.41469319514721
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23045.411100000 86.41469319514721
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23045.416050000 86.40548184318232
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23045.426086000 86.41469319514721
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23045.431041000 86.41469319514721
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23045.436098000 86.41469319514721
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23045.441179000 86.41469319514721
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| 1424 |
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23045.446240000 86.41469319514721
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| 1425 |
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23045.451041000 86.41469319514721
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23045.456507000 86.41469319514721
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23045.461257000 86.41469319514721
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23045.481047000 86.41469319514721
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23045.531046000 86.42390360575159
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23045.541950000 86.42390360575159
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23045.546145000 86.42390360575159
|
| 1445 |
+
23045.551501000 86.42390360575159
|
pick_coke/session_004/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
| 1 |
+
轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
时间匹配阈值: 0.01 s
|
| 7 |
+
基准传感器: VIVE (100Hz)
|
| 8 |
+
辅助传感器: SLAM (500Hz)
|
| 9 |
+
|
| 10 |
+
融合结果统计:
|
| 11 |
+
total_merged: 723
|
| 12 |
+
averaged: 723
|
| 13 |
+
use_slam: 0
|
| 14 |
+
use_vive: 0
|
| 15 |
+
both_high: 0
|
| 16 |
+
skipped: 0
|
| 17 |
+
no_match: 0
|
| 18 |
+
|
| 19 |
+
策略占比:
|
| 20 |
+
均值融合: 100.0%
|
| 21 |
+
使用SLAM: 0.0%
|
| 22 |
+
使用VIVE: 0.0%
|
| 23 |
+
|
| 24 |
+
生成时间: 2025-12-02 20:34:08
|
| 25 |
+
设备标签: main
|
| 26 |
+
XV 序列号: 250801DR48FP25002087
|
| 27 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_004/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_004/RGB_Images/raw_meta.json
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"width": 1920,
|
| 3 |
+
"height": 1080,
|
| 4 |
+
"channels": 3,
|
| 5 |
+
"dtype": "uint8",
|
| 6 |
+
"format": "bgr8",
|
| 7 |
+
"stride_bytes": 6220800
|
| 8 |
+
}
|
pick_coke/session_004/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,434 @@
|
|
|
|
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|
| 1 |
+
frame_index,seq,header_stamp,aligned_stamp
|
| 2 |
+
0,7742,23038.322939000,23038.335136000
|
| 3 |
+
1,7743,23038.341622000,23038.353819000
|
| 4 |
+
2,7744,23038.356117000,23038.368314000
|
| 5 |
+
3,7745,23038.376424000,23038.388621000
|
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pick_coke/session_004/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:334f4cdbe3018b470abad3fcb44656aa9b6cedf9c795babc983e8f0ad5c16422
|
| 3 |
+
size 19411289
|
pick_coke/session_004/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_004/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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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: 23038.335136s
|
| 6 |
+
Vive 第一帧时间戳: 1764678841.211116s
|
| 7 |
+
说明:
|
| 8 |
+
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 9 |
+
- 时间戳已与 SLAM 数据对齐
|
| 10 |
+
- 坐标已转换到 Gripper 坐标系
|
| 11 |
+
|
| 12 |
+
生成时间: 2025-12-02 20:34:08
|
| 13 |
+
设备标签: main
|
| 14 |
+
XV 序列号: 250801DR48FP25002087
|
| 15 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_004/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_005/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1624 @@
|
|
|
|
|
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|
|
|
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| 1 |
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23051.216090000 86.46994153425453
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| 2 |
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23051.222020000 86.46994153425453
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| 3 |
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23051.226060000 86.46994153425453
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| 4 |
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23051.231065000 86.46994153425453
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| 5 |
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23051.236136000 86.46994153425453
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| 6 |
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23051.241662000 86.46994153425453
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| 7 |
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23051.246058000 86.46994153425453
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| 8 |
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23051.251165000 86.46994153425453
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| 9 |
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23051.256154000 86.46073583221458
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| 10 |
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23051.261054000 86.46073583221458
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| 11 |
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23051.266525000 86.46073583221458
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| 12 |
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23051.271078000 86.46073583221458
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| 13 |
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23051.276349000 86.46073583221458
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| 14 |
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23051.281062000 86.46073583221458
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| 15 |
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23051.286769000 86.46073583221458
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| 16 |
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23051.291392000 86.46073583221458
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| 17 |
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23051.296078000 86.46073583221458
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| 18 |
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23051.301502000 86.46994153425453
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| 19 |
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23051.306110000 86.46073583221458
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| 20 |
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23051.311463000 86.46994153425453
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| 21 |
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23051.316073000 86.46073583221458
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| 22 |
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23051.322097000 86.46994153425453
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| 23 |
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23051.326054000 86.46994153425453
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| 24 |
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23051.331060000 86.46994153425453
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| 25 |
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23051.336117000 86.46994153425453
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| 26 |
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23051.341764000 86.46073583221458
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| 27 |
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23051.346129000 86.46073583221458
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| 28 |
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23051.351104000 86.46073583221458
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| 29 |
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23051.356077000 86.46994153425453
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| 30 |
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23051.361057000 86.46994153425453
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| 31 |
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23051.366107000 86.46994153425453
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| 32 |
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23051.371265000 86.46994153425453
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| 33 |
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23051.376077000 86.46994153425453
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| 34 |
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23051.381058000 86.46073583221458
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| 35 |
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23051.386189000 86.46073583221458
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| 36 |
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23051.391316000 86.46073583221458
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| 37 |
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23051.396089000 86.46073583221458
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| 38 |
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23051.401217000 86.46073583221458
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| 39 |
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23051.406129000 86.46994153425453
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| 40 |
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23051.411279000 86.46073583221458
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| 41 |
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23051.416063000 86.46073583221458
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| 42 |
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23051.421988000 86.46073583221458
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| 43 |
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23051.426173000 86.46073583221458
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| 44 |
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23051.431109000 86.46073583221458
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| 45 |
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23051.436064000 86.46994153425453
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23051.441703000 86.46994153425453
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| 47 |
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23051.446048000 86.46073583221458
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| 48 |
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23051.451183000 86.46073583221458
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| 49 |
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23051.456063000 86.46994153425453
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| 50 |
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23051.461044000 86.46994153425453
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| 51 |
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23051.466048000 86.46994153425453
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| 52 |
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23051.471812000 86.46994153425453
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| 53 |
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23051.476075000 86.46073583221458
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| 54 |
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23051.481044000 86.46073583221458
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| 55 |
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23051.486883000 86.46994153425453
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| 56 |
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23051.506210000 86.46994153425453
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| 60 |
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| 61 |
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23051.516063000 86.46073583221458
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| 62 |
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23051.521620000 86.46073583221458
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| 63 |
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23051.526095000 86.46073583221458
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| 64 |
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23051.531046000 86.46994153425453
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| 65 |
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23051.536117000 86.46994153425453
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| 66 |
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23051.541747000 86.46994153425453
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| 67 |
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23051.546051000 86.46994153425453
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| 68 |
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23051.551080000 86.46994153425453
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| 69 |
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23051.556064000 86.46994153425453
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| 70 |
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23051.561047000 86.46073583221458
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| 71 |
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23051.566150000 86.46994153425453
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| 72 |
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23051.571328000 86.46994153425453
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| 73 |
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23051.576075000 86.46994153425453
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| 74 |
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23051.581049000 86.46994153425453
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| 75 |
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23051.586174000 86.46073583221458
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| 76 |
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23051.591425000 86.46073583221458
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| 77 |
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23051.596104000 86.46073583221458
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| 78 |
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23051.601272000 86.46073583221458
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| 79 |
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| 81 |
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23051.616053000 86.46073583221458
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| 82 |
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| 83 |
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23051.626044000 86.46073583221458
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| 84 |
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23051.631121000 86.46073583221458
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| 85 |
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23051.636109000 86.46994153425453
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| 86 |
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23051.641795000 86.46994153425453
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| 87 |
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23051.646041000 86.46994153425453
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| 88 |
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23051.651292000 86.46994153425453
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| 89 |
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23051.656055000 86.46994153425453
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| 90 |
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23051.661038000 86.46994153425453
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| 91 |
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23051.666038000 86.46994153425453
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| 92 |
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23051.671123000 86.46994153425453
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| 93 |
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23051.676057000 86.46994153425453
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| 94 |
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23051.681091000 86.46994153425453
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| 95 |
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23051.686327000 86.46994153425453
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| 96 |
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23051.691483000 86.46073583221458
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| 97 |
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23051.696055000 86.46994153425453
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| 98 |
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23051.701061000 86.46994153425453
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| 99 |
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23051.706368000 86.46994153425453
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| 100 |
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23051.711464000 86.46994153425453
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| 101 |
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23051.716045000 86.46994153425453
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| 102 |
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23051.722141000 86.46994153425453
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| 103 |
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23051.726034000 86.46073583221458
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| 104 |
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23051.731039000 86.46994153425453
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| 105 |
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23051.736057000 86.46994153425453
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| 106 |
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23051.741401000 86.46994153425453
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| 107 |
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23051.746827000 86.46073583221458
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| 108 |
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23051.751137000 86.46073583221458
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| 109 |
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23051.756051000 86.46073583221458
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| 110 |
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23051.761036000 86.46994153425453
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| 111 |
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23051.766446000 86.46994153425453
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| 112 |
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23051.771103000 86.46994153425453
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| 113 |
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23051.776124000 86.46994153425453
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| 114 |
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23051.781042000 86.46073583221458
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| 115 |
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23051.786221000 86.46073583221458
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| 116 |
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23051.791490000 86.46073583221458
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| 117 |
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23051.796073000 86.46073583221458
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| 118 |
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23051.801297000 86.46073583221458
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23051.806095000 86.46073583221458
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| 120 |
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23051.811424000 86.46073583221458
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| 121 |
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23051.816042000 86.46073583221458
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23051.822000000 86.46073583221458
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| 123 |
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23051.826033000 86.46073583221458
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| 124 |
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23059.087358000 86.46994153425453
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| 1576 |
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23059.096113000 86.46994153425453
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23059.106333000 86.46994153425453
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| 1580 |
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| 1582 |
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| 1583 |
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23059.126326000 86.46994153425453
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| 1584 |
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23059.131078000 86.46994153425453
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| 1585 |
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| 1586 |
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23059.141665000 86.46994153425453
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| 1587 |
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23059.146371000 86.47914629422931
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| 1588 |
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23059.151186000 86.47914629422931
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| 1589 |
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23059.156091000 86.47914629422931
|
| 1590 |
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23059.161097000 86.46994153425453
|
| 1591 |
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23059.166110000 86.46994153425453
|
| 1592 |
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23059.171672000 86.46994153425453
|
| 1593 |
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23059.176098000 86.46994153425453
|
| 1594 |
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23059.181072000 86.46994153425453
|
| 1595 |
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23059.187569000 86.46994153425453
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| 1596 |
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23059.191076000 86.46994153425453
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| 1597 |
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23059.196390000 86.46994153425453
|
| 1598 |
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23059.201196000 86.47914629422931
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| 1599 |
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23059.206074000 86.47914629422931
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| 1600 |
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23059.211759000 86.46994153425453
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| 1601 |
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23059.216148000 86.46994153425453
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| 1602 |
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23059.221217000 86.46994153425453
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| 1603 |
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23059.226490000 86.46994153425453
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| 1604 |
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23059.231128000 86.46994153425453
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| 1605 |
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23059.236369000 86.46994153425453
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| 1606 |
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23059.241327000 86.47914629422931
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| 1607 |
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23059.246865000 86.46994153425453
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| 1608 |
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23059.251115000 86.47914629422931
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| 1609 |
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23059.256123000 86.47914629422931
|
| 1610 |
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23059.261076000 86.46994153425453
|
| 1611 |
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23059.266116000 86.46994153425453
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23059.281074000 86.47914629422931
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23059.287446000 86.47914629422931
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| 1616 |
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| 1617 |
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23059.296207000 86.46994153425453
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| 1618 |
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23059.301171000 86.47914629422931
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| 1619 |
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23059.306373000 86.46994153425453
|
| 1620 |
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23059.311171000 86.46994153425453
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23059.316892000 86.47914629422931
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23059.321458000 86.47914629422931
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| 1623 |
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23059.327247000 86.47914629422931
|
| 1624 |
+
23059.331075000 86.47914629422931
|
pick_coke/session_005/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
| 1 |
+
轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
时间匹配阈值: 0.01 s
|
| 7 |
+
基准传感器: VIVE (100Hz)
|
| 8 |
+
辅助传感器: SLAM (500Hz)
|
| 9 |
+
|
| 10 |
+
融合结果统计:
|
| 11 |
+
total_merged: 812
|
| 12 |
+
averaged: 812
|
| 13 |
+
use_slam: 0
|
| 14 |
+
use_vive: 0
|
| 15 |
+
both_high: 0
|
| 16 |
+
skipped: 0
|
| 17 |
+
no_match: 0
|
| 18 |
+
|
| 19 |
+
策略占比:
|
| 20 |
+
均值融合: 100.0%
|
| 21 |
+
使用SLAM: 0.0%
|
| 22 |
+
使用VIVE: 0.0%
|
| 23 |
+
|
| 24 |
+
生成时间: 2025-12-02 20:34:22
|
| 25 |
+
设备标签: main
|
| 26 |
+
XV 序列号: 250801DR48FP25002087
|
| 27 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_005/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_005/RGB_Images/raw_meta.json
ADDED
|
@@ -0,0 +1,8 @@
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|
|
|
|
|
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|
|
|
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|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"width": 1920,
|
| 3 |
+
"height": 1080,
|
| 4 |
+
"channels": 3,
|
| 5 |
+
"dtype": "uint8",
|
| 6 |
+
"format": "bgr8",
|
| 7 |
+
"stride_bytes": 6220800
|
| 8 |
+
}
|
pick_coke/session_005/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,489 @@
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
| 1 |
+
frame_index,seq,header_stamp,aligned_stamp
|
| 2 |
+
0,8515,23051.207344000,23051.215885000
|
| 3 |
+
1,8516,23051.221408000,23051.229949000
|
| 4 |
+
2,8517,23051.241020000,23051.249561000
|
| 5 |
+
3,8518,23051.255658000,23051.264199000
|
| 6 |
+
4,8519,23051.274424000,23051.282965000
|
| 7 |
+
5,8520,23051.289171000,23051.297712000
|
| 8 |
+
6,8521,23051.309031000,23051.317572000
|
| 9 |
+
7,8522,23051.320897000,23051.329438000
|
| 10 |
+
8,8523,23051.340929000,23051.349470000
|
| 11 |
+
9,8524,23051.354221000,23051.362762000
|
| 12 |
+
10,8525,23051.374238000,23051.382779000
|
| 13 |
+
11,8526,23051.388921000,23051.397462000
|
| 14 |
+
12,8527,23051.408514000,23051.417055000
|
| 15 |
+
13,8528,23051.421394000,23051.429935000
|
| 16 |
+
14,8529,23051.441068000,23051.449609000
|
| 17 |
+
15,8530,23051.453638000,23051.462179000
|
| 18 |
+
16,8531,23051.472118000,23051.480659000
|
| 19 |
+
17,8532,23051.489113000,23051.497654000
|
| 20 |
+
18,8533,23051.508883000,23051.517424000
|
| 21 |
+
19,8534,23051.521692000,23051.530233000
|
| 22 |
+
20,8535,23051.540892000,23051.549433000
|
| 23 |
+
21,8536,23051.554347000,23051.562888000
|
| 24 |
+
22,8537,23051.574246000,23051.582787000
|
| 25 |
+
23,8538,23051.588990000,23051.597531000
|
| 26 |
+
24,8539,23051.607486000,23051.616027000
|
| 27 |
+
25,8540,23051.621326000,23051.629867000
|
| 28 |
+
26,8541,23051.641149000,23051.649690000
|
| 29 |
+
27,8542,23051.653587000,23051.662128000
|
| 30 |
+
28,8543,23051.674093000,23051.682634000
|
| 31 |
+
29,8544,23051.689237000,23051.697778000
|
| 32 |
+
30,8545,23051.708561000,23051.717102000
|
| 33 |
+
31,8546,23051.721551000,23051.730092000
|
| 34 |
+
32,8547,23051.741613000,23051.750154000
|
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pick_coke/session_005/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fde96e6334bdc0d0c41de8e7cf81d329545c54b20348579ade8819ac6280497c
|
| 3 |
+
size 21536019
|
pick_coke/session_005/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_005/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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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: 23051.215885s
|
| 6 |
+
Vive 第一帧时间戳: 1764678854.101524s
|
| 7 |
+
说明:
|
| 8 |
+
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 9 |
+
- 时间戳已与 SLAM 数据对齐
|
| 10 |
+
- 坐标已转换到 Gripper 坐标系
|
| 11 |
+
|
| 12 |
+
生成时间: 2025-12-02 20:34:22
|
| 13 |
+
设备标签: main
|
| 14 |
+
XV 序列号: 250801DR48FP25002087
|
| 15 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_005/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_006/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1509 @@
|
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|
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pick_coke/session_006/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
时间匹配阈值: 0.01 s
|
| 7 |
+
基准传感器: VIVE (100Hz)
|
| 8 |
+
辅助传感器: SLAM (500Hz)
|
| 9 |
+
|
| 10 |
+
融合结果统计:
|
| 11 |
+
total_merged: 754
|
| 12 |
+
averaged: 754
|
| 13 |
+
use_slam: 0
|
| 14 |
+
use_vive: 0
|
| 15 |
+
both_high: 0
|
| 16 |
+
skipped: 0
|
| 17 |
+
no_match: 0
|
| 18 |
+
|
| 19 |
+
策略占比:
|
| 20 |
+
均值融合: 100.0%
|
| 21 |
+
使用SLAM: 0.0%
|
| 22 |
+
使用VIVE: 0.0%
|
| 23 |
+
|
| 24 |
+
生成时间: 2025-12-02 20:34:55
|
| 25 |
+
设备标签: main
|
| 26 |
+
XV 序列号: 250801DR48FP25002087
|
| 27 |
+
Vive 序列号: LHR_B728E669
|
pick_coke/session_006/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_coke/session_006/RGB_Images/frames.bgr8
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e1c169502e2884552e0cdbf897c07b600ef0bef2bca3322a7d6c5765972b9ae9
|
| 3 |
+
size 2818022400
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