Delete multi_sessions_20251119_190826
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- multi_sessions_20251119_190826/collection_summary.txt +0 -153
- multi_sessions_20251119_190826/session_001/Clamp_Data/clamp.csv +0 -1470
- multi_sessions_20251119_190826/session_001/Clamp_Data/clamp_data_tum.txt +0 -1469
- multi_sessions_20251119_190826/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_190826/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_190826/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_190826/session_001/RGB_Images/timestamps.csv +0 -442
- multi_sessions_20251119_190826/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_190826/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_190826/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_190826/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_190826/session_002/Clamp_Data/clamp.csv +0 -1609
- multi_sessions_20251119_190826/session_002/Clamp_Data/clamp_data_tum.txt +0 -1608
- multi_sessions_20251119_190826/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_190826/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_190826/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_190826/session_002/RGB_Images/timestamps.csv +0 -483
- multi_sessions_20251119_190826/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_190826/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_190826/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_190826/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_190826/session_003/Clamp_Data/clamp.csv +0 -1489
- multi_sessions_20251119_190826/session_003/Clamp_Data/clamp_data_tum.txt +0 -1488
- multi_sessions_20251119_190826/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_190826/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_190826/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_190826/session_003/RGB_Images/timestamps.csv +0 -448
- multi_sessions_20251119_190826/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_190826/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_190826/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_190826/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_190826/session_004/Clamp_Data/clamp.csv +0 -1463
- multi_sessions_20251119_190826/session_004/Clamp_Data/clamp_data_tum.txt +0 -1462
- multi_sessions_20251119_190826/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_190826/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_190826/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_190826/session_004/RGB_Images/timestamps.csv +0 -439
- multi_sessions_20251119_190826/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_190826/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_190826/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_190826/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_190826/session_005/Clamp_Data/clamp.csv +0 -1524
- multi_sessions_20251119_190826/session_005/Clamp_Data/clamp_data_tum.txt +0 -1523
- multi_sessions_20251119_190826/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_190826/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_190826/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_190826/session_005/RGB_Images/timestamps.csv +0 -458
- multi_sessions_20251119_190826/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_190826/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_190826/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_190826/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 19:08:28 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_190826
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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 19:08:28 CST
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输出目录: ./multi_sessions_20251119_190826/session_001
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结束时间: 2025年 11月 19日 星期三 19:08:41 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_190826/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 19:08:43 CST
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输出目录: ./multi_sessions_20251119_190826/session_002
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结束时间: 2025年 11月 19日 星期三 19:09:00 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_190826/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 19:09:02 CST
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输出目录: ./multi_sessions_20251119_190826/session_003
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结束时间: 2025年 11月 19日 星期三 19:09:16 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_190826/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 19:09:20 CST
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输出目录: ./multi_sessions_20251119_190826/session_004
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结束时间: 2025年 11月 19日 星期三 19:09:33 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_190826/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 19:09:36 CST
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输出目录: ./multi_sessions_20251119_190826/session_005
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结束时间: 2025年 11月 19日 星期三 19:09:49 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_190826/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 19:09:51 CST
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输出目录: ./multi_sessions_20251119_190826/session_006
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结束时间: 2025年 11月 19日 星期三 19:10:05 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_190826/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 19:10:07 CST
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输出目录: ./multi_sessions_20251119_190826/session_007
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结束时间: 2025年 11月 19日 星期三 19:10:21 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_190826/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 19:10:22 CST
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输出目录: ./multi_sessions_20251119_190826/session_008
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结束时间: 2025年 11月 19日 星期三 19:10:36 CST
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持续时间: 14秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_190826/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 19:10:39 CST
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输出目录: ./multi_sessions_20251119_190826/session_009
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结束时间: 2025年 11月 19日 星期三 19:10:53 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_190826/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 19:10:55 CST
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输出目录: ./multi_sessions_20251119_190826/session_010
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结束时间: 2025年 11月 19日 星期三 19:11:08 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_190826/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 19:11:08 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_190826/
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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_190826/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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| 1451 |
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161111.453063,87.41306182041758
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| 1452 |
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161111.45841,87.42216892110109
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| 1453 |
-
161111.463694,87.42216892110109
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| 1454 |
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161111.467952,87.42216892110109
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| 1455 |
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161111.472947,87.42216892110109
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| 1456 |
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161111.478002,87.42216892110109
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| 1457 |
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161111.483273,87.41306182041758
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| 1458 |
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161111.488222,87.42216892110109
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| 1459 |
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161111.49318,87.42216892110109
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| 1460 |
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161111.497951,87.42216892110109
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| 1461 |
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161111.502959,87.42216892110109
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| 1462 |
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161111.509933,87.42216892110109
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| 1463 |
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161111.513722,87.42216892110109
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| 1464 |
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161111.51795,87.42216892110109
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| 1465 |
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161111.522953,87.42216892110109
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| 1466 |
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161111.530022,87.43127506757487
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| 1467 |
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161111.533745,87.43127506757487
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| 1468 |
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161111.538318,87.43127506757487
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| 1469 |
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161111.544622,87.43127506757487
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| 1470 |
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161111.548608,87.42216892110109
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|
multi_sessions_20251119_190826/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
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@@ -1,1469 +0,0 @@
|
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| 1 |
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161104.208345000 87.45858778057632
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| 2 |
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161104.213248000 87.45858778057632
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161104.218133000 87.45858778057632
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161104.234899000 87.45858778057632
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161104.248668000 87.44948449742859
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161104.303134000 87.44948449742859
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161104.423128000 87.44948449742859
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161104.433890000 87.44948449742859
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| 47 |
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161104.438125000 87.45858778057632
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| 48 |
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161104.443151000 87.44948449742859
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| 49 |
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161104.448643000 87.45858778057632
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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161104.473131000 87.45858778057632
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| 55 |
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161104.478201000 87.45858778057632
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| 56 |
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161104.483325000 87.45858778057632
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| 57 |
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161104.488827000 87.45858778057632
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| 58 |
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161104.493131000 87.45858778057632
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| 60 |
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161104.503131000 87.45858778057632
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| 61 |
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161104.508643000 87.45858778057632
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| 62 |
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161104.514452000 87.45858778057632
|
| 63 |
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161104.518133000 87.45858778057632
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| 64 |
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161104.523354000 87.45858778057632
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| 65 |
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161104.529274000 87.45858778057632
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| 66 |
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161104.533464000 87.45858778057632
|
| 67 |
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161104.538134000 87.45858778057632
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161104.543132000 87.45858778057632
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| 69 |
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|
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161104.553112000 87.45858778057632
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| 71 |
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161104.558107000 87.45858778057632
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| 72 |
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161104.564707000 87.45858778057632
|
| 73 |
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161104.568112000 87.45858778057632
|
| 74 |
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161104.573190000 87.45858778057632
|
| 75 |
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161104.578156000 87.45858778057632
|
| 76 |
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161104.583142000 87.44948449742859
|
| 77 |
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161104.589098000 87.45858778057632
|
| 78 |
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161104.593108000 87.476791482733
|
| 79 |
-
161104.598435000 87.48589190150977
|
| 80 |
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161104.603121000 87.49499136526408
|
| 81 |
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161104.608911000 87.48589190150977
|
| 82 |
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161104.613178000 87.48589190150977
|
| 83 |
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161104.618114000 87.48589190150977
|
| 84 |
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161104.623114000 87.48589190150977
|
| 85 |
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161104.630915000 87.476791482733
|
| 86 |
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161104.633938000 87.476791482733
|
| 87 |
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161104.638145000 87.476791482733
|
| 88 |
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161104.643404000 87.476791482733
|
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multi_sessions_20251119_190826/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: 735
|
| 19 |
-
均值融合 (都低速): 735
|
| 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 19:08:39
|
| 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_190826/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,442 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,161104.1972
|
| 3 |
-
1,161104.213327
|
| 4 |
-
2,161104.230405
|
| 5 |
-
3,161104.247921
|
| 6 |
-
4,161104.264137
|
| 7 |
-
5,161104.280888
|
| 8 |
-
6,161104.296944
|
| 9 |
-
7,161104.313189
|
| 10 |
-
8,161104.330617
|
| 11 |
-
9,161104.346671
|
| 12 |
-
10,161104.363688
|
| 13 |
-
11,161104.380216
|
| 14 |
-
12,161104.397188
|
| 15 |
-
13,161104.413462
|
| 16 |
-
14,161104.430366
|
| 17 |
-
15,161104.447898
|
| 18 |
-
16,161104.464206
|
| 19 |
-
17,161104.48049
|
| 20 |
-
18,161104.49689
|
| 21 |
-
19,161104.513177
|
| 22 |
-
20,161104.53478
|
| 23 |
-
21,161104.546858
|
| 24 |
-
22,161104.563885
|
| 25 |
-
23,161104.580823
|
| 26 |
-
24,161104.597162
|
| 27 |
-
25,161104.613431
|
| 28 |
-
26,161104.63034
|
| 29 |
-
27,161104.646838
|
| 30 |
-
28,161104.66398
|
| 31 |
-
29,161104.680691
|
| 32 |
-
30,161104.696872
|
| 33 |
-
31,161104.713194
|
| 34 |
-
32,161104.737509
|
| 35 |
-
33,161104.74729
|
| 36 |
-
34,161104.763698
|
| 37 |
-
35,161104.780061
|
| 38 |
-
36,161104.797077
|
| 39 |
-
37,161104.81348
|
| 40 |
-
38,161104.830322
|
| 41 |
-
39,161104.846712
|
| 42 |
-
40,161104.863982
|
| 43 |
-
41,161104.880679
|
| 44 |
-
42,161104.896798
|
| 45 |
-
43,161104.913119
|
| 46 |
-
44,161104.930598
|
| 47 |
-
45,161104.94703
|
| 48 |
-
46,161104.963705
|
| 49 |
-
47,161104.980038
|
| 50 |
-
48,161104.99674
|
| 51 |
-
49,161105.014005
|
| 52 |
-
50,161105.030203
|
| 53 |
-
51,161105.046742
|
| 54 |
-
52,161105.063857
|
| 55 |
-
53,161105.080295
|
| 56 |
-
54,161105.09683
|
| 57 |
-
55,161105.113099
|
| 58 |
-
56,161105.130147
|
| 59 |
-
57,161105.146963
|
| 60 |
-
58,161105.163591
|
| 61 |
-
59,161105.180008
|
| 62 |
-
60,161105.196655
|
| 63 |
-
61,161105.213937
|
| 64 |
-
62,161105.230254
|
| 65 |
-
63,161105.246723
|
| 66 |
-
64,161105.263558
|
| 67 |
-
65,161105.280378
|
| 68 |
-
66,161105.296879
|
| 69 |
-
67,161105.313154
|
| 70 |
-
68,161105.330235
|
| 71 |
-
69,161105.347037
|
| 72 |
-
70,161105.363815
|
| 73 |
-
71,161105.380059
|
| 74 |
-
72,161105.396759
|
| 75 |
-
73,161105.413555
|
| 76 |
-
74,161105.430618
|
| 77 |
-
75,161105.446404
|
| 78 |
-
76,161105.464146
|
| 79 |
-
77,161105.480424
|
| 80 |
-
78,161105.497028
|
| 81 |
-
79,161105.513118
|
| 82 |
-
80,161105.530311
|
| 83 |
-
81,161105.547025
|
| 84 |
-
82,161105.563793
|
| 85 |
-
83,161105.580028
|
| 86 |
-
84,161105.59695
|
| 87 |
-
85,161105.613271
|
| 88 |
-
86,161105.630497
|
| 89 |
-
87,161105.646349
|
| 90 |
-
88,161105.663771
|
| 91 |
-
89,161105.680341
|
| 92 |
-
90,161105.697004
|
| 93 |
-
91,161105.713165
|
| 94 |
-
92,161105.730421
|
| 95 |
-
93,161105.746552
|
| 96 |
-
94,161105.763906
|
| 97 |
-
95,161105.780019
|
| 98 |
-
96,161105.800311
|
| 99 |
-
97,161105.814127
|
| 100 |
-
98,161105.830932
|
| 101 |
-
99,161105.846336
|
| 102 |
-
100,161105.863709
|
| 103 |
-
101,161105.880477
|
| 104 |
-
102,161105.897024
|
| 105 |
-
103,161105.913649
|
| 106 |
-
104,161105.930381
|
| 107 |
-
105,161105.946332
|
| 108 |
-
106,161105.963935
|
| 109 |
-
107,161105.980252
|
| 110 |
-
108,161106.000067
|
| 111 |
-
109,161106.014105
|
| 112 |
-
110,161106.032078
|
| 113 |
-
111,161106.046427
|
| 114 |
-
112,161106.063818
|
| 115 |
-
113,161106.08048
|
| 116 |
-
114,161106.097126
|
| 117 |
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multi_sessions_20251119_190826/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:cabad7a2e068a9fa3c093a5c0ef7829611010abe0f97a016df6353af25108df6
|
| 3 |
-
size 3651538
|
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|
multi_sessions_20251119_190826/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/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: 161104.207778s
|
| 6 |
-
Vive 第一帧时间戳: 1763550510.087504s
|
| 7 |
-
计算的 offset: -1763389405.879726s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.879726
|
| 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 19:08:39
|
| 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_190826/session_001/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1609 +0,0 @@
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timestamp,clamp
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| 1571 |
-
161129.82835,87.42216892110109
|
| 1572 |
-
161129.832293,87.42216892110109
|
| 1573 |
-
161129.837292,87.42216892110109
|
| 1574 |
-
161129.842987,87.42216892110109
|
| 1575 |
-
161129.847298,87.42216892110109
|
| 1576 |
-
161129.852401,87.42216892110109
|
| 1577 |
-
161129.857561,87.42216892110109
|
| 1578 |
-
161129.862366,87.42216892110109
|
| 1579 |
-
161129.868014,87.42216892110109
|
| 1580 |
-
161129.872356,87.42216892110109
|
| 1581 |
-
161129.877352,87.42216892110109
|
| 1582 |
-
161129.882292,87.42216892110109
|
| 1583 |
-
161129.888056,87.42216892110109
|
| 1584 |
-
161129.892673,87.42216892110109
|
| 1585 |
-
161129.897295,87.42216892110109
|
| 1586 |
-
161129.90231,87.42216892110109
|
| 1587 |
-
161129.908932,87.42216892110109
|
| 1588 |
-
161129.912351,87.42216892110109
|
| 1589 |
-
161129.917288,87.43127506757487
|
| 1590 |
-
161129.922384,87.42216892110109
|
| 1591 |
-
161129.928025,87.42216892110109
|
| 1592 |
-
161129.932293,87.42216892110109
|
| 1593 |
-
161129.937288,87.42216892110109
|
| 1594 |
-
161129.943223,87.42216892110109
|
| 1595 |
-
161129.947293,87.42216892110109
|
| 1596 |
-
161129.952293,87.43127506757487
|
| 1597 |
-
161129.95899,87.43127506757487
|
| 1598 |
-
161129.962388,87.42216892110109
|
| 1599 |
-
161129.96776,87.43127506757487
|
| 1600 |
-
161129.972878,87.42216892110109
|
| 1601 |
-
161129.977294,87.42216892110109
|
| 1602 |
-
161129.982308,87.42216892110109
|
| 1603 |
-
161129.98772,87.42216892110109
|
| 1604 |
-
161129.992289,87.42216892110109
|
| 1605 |
-
161129.99729,87.42216892110109
|
| 1606 |
-
161130.002406,87.42216892110109
|
| 1607 |
-
161130.007998,87.42216892110109
|
| 1608 |
-
161130.012298,87.42216892110109
|
| 1609 |
-
161130.01731,87.43127506757487
|
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|
multi_sessions_20251119_190826/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1608 +0,0 @@
|
|
| 1 |
-
161121.982558000 87.44948449742859
|
| 2 |
-
161121.987588000 87.44038025972274
|
| 3 |
-
161121.992932000 87.44948449742859
|
| 4 |
-
161121.997561000 87.44948449742859
|
| 5 |
-
161122.002661000 87.44948449742859
|
| 6 |
-
161122.010853000 87.44948449742859
|
| 7 |
-
161122.014323000 87.44948449742859
|
| 8 |
-
161122.017587000 87.44038025972274
|
| 9 |
-
161122.022868000 87.44038025972274
|
| 10 |
-
161122.028333000 87.43127506757487
|
| 11 |
-
161122.032569000 87.44038025972274
|
| 12 |
-
161122.037554000 87.44038025972274
|
| 13 |
-
161122.044377000 87.44038025972274
|
| 14 |
-
161122.047560000 87.44038025972274
|
| 15 |
-
161122.052553000 87.44038025972274
|
| 16 |
-
161122.057581000 87.44038025972274
|
| 17 |
-
161122.062557000 87.44038025972274
|
| 18 |
-
161122.067645000 87.44038025972274
|
| 19 |
-
161122.072543000 87.44038025972274
|
| 20 |
-
161122.078125000 87.44038025972274
|
| 21 |
-
161122.082550000 87.44038025972274
|
| 22 |
-
161122.088565000 87.44038025972274
|
| 23 |
-
161122.092671000 87.44038025972274
|
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161127.527958000 41.06303775358227
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161129.272460000 87.40395376564047
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161129.492467000 87.40395376564047
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161129.502315000 87.40395376564047
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161129.522430000 87.41306182041758
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161129.592500000 87.40395376564047
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161130.017310000 87.43127506757487
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multi_sessions_20251119_190826/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: 803
|
| 19 |
-
均值融合 (都低速): 803
|
| 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 19:08:57
|
| 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_190826/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,483 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,161121.976713
|
| 3 |
-
1,161121.995066
|
| 4 |
-
2,161122.010213
|
| 5 |
-
3,161122.026424
|
| 6 |
-
4,161122.043507
|
| 7 |
-
5,161122.06328
|
| 8 |
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6,161122.076755
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7,161122.095144
|
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8,161122.110318
|
| 11 |
-
9,161122.128696
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| 12 |
-
10,161122.143971
|
| 13 |
-
11,161122.160339
|
| 14 |
-
12,161122.176769
|
| 15 |
-
13,161122.195029
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| 16 |
-
14,161122.210149
|
| 17 |
-
15,161122.226393
|
| 18 |
-
16,161122.243516
|
| 19 |
-
17,161122.263367
|
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18,161122.276691
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19,161122.293069
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21,161122.32857
|
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-
22,161122.343903
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-
23,161122.364671
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24,161122.376767
|
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25,161122.39492
|
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-
26,161122.410277
|
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27,161122.426363
|
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-
28,161122.443516
|
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|
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|
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-
31,161122.493069
|
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-
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|
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|
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-
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|
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|
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|
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|
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-
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|
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|
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|
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|
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|
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|
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-
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|
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|
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|
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|
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|
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|
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|
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|
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56,161122.909974
|
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58,161122.94409
|
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|
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|
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62,161123.01023
|
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63,161123.026284
|
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65,161123.063053
|
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66,161123.076652
|
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67,161123.094781
|
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68,161123.110162
|
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69,161123.126174
|
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70,161123.143774
|
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71,161123.163157
|
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72,161123.176411
|
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73,161123.194839
|
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|
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|
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|
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|
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78,161123.276802
|
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|
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80,161123.310045
|
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81,161123.328497
|
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83,161123.363131
|
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84,161123.376395
|
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85,161123.394767
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86,161123.410239
|
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87,161123.428602
|
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|
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93,161123.526114
|
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94,161123.543332
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95,161123.562831
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96,161123.576237
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97,161123.594713
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98,161123.609891
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101,161123.663282
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118,161123.943228
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|
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123,161124.028713
|
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|
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126,161124.076525
|
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128,161124.110098
|
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129,161124.128198
|
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130,161124.143263
|
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|
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132,161124.176444
|
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133,161124.194772
|
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134,161124.210277
|
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135,161124.228203
|
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136,161124.243504
|
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137,161124.259662
|
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138,161124.276326
|
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139,161124.294686
|
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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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147,161124.427476
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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multi_sessions_20251119_190826/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:8a7a845ba4811fa7ac17226d4bdfa627f097ec0127cd89eb5157f866aa665129
|
| 3 |
-
size 3688908
|
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|
multi_sessions_20251119_190826/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/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: 161121.981775s
|
| 6 |
-
Vive 第一帧时间戳: 1763550527.867518s
|
| 7 |
-
计算的 offset: -1763389405.885743s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.885743
|
| 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 19:08:57
|
| 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_190826/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_190826/session_003/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1489 +0,0 @@
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| 1 |
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timestamp,clamp
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161138.381833,87.66769956804939
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|
multi_sessions_20251119_190826/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1488 +0,0 @@
|
|
| 1 |
-
161138.381833000 87.66769956804939
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161138.388570000 87.66769956804939
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161138.391826000 87.67677990699939
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161138.396827000 87.67677990699939
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161138.411843000 87.67677990699939
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161138.417106000 87.67677990699939
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161138.424045000 87.67677990699939
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161138.427644000 87.66769956804939
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161138.436892000 87.66769956804939
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161138.446820000 87.66769956804939
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161138.592603000 87.66769956804939
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161138.601890000 87.66769956804939
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161138.611851000 87.67677990699939
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161138.636846000 87.66769956804939
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161138.642910000 87.66769956804939
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161138.708130000 87.67677990699939
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161138.722820000 87.66769956804939
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161138.737055000 87.66769956804939
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161138.757258000 87.66769956804939
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161138.771980000 87.67677990699939
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161138.936851000 87.67677990699939
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161144.736924000 87.5131874272411
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multi_sessions_20251119_190826/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: 743
|
| 19 |
-
均值融合 (都低速): 743
|
| 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 19:09:13
|
| 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_190826/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,448 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,161138.373666
|
| 3 |
-
1,161138.390405
|
| 4 |
-
2,161138.407069
|
| 5 |
-
3,161138.423275
|
| 6 |
-
4,161138.440127
|
| 7 |
-
5,161138.456593
|
| 8 |
-
6,161138.473414
|
| 9 |
-
7,161138.491707
|
| 10 |
-
8,161138.506964
|
| 11 |
-
9,161138.523329
|
| 12 |
-
10,161138.539816
|
| 13 |
-
11,161138.556469
|
| 14 |
-
12,161138.57372
|
| 15 |
-
13,161138.589797
|
| 16 |
-
14,161138.606235
|
| 17 |
-
15,161138.624911
|
| 18 |
-
16,161138.640092
|
| 19 |
-
17,161138.656693
|
| 20 |
-
18,161138.673437
|
| 21 |
-
19,161138.691678
|
| 22 |
-
20,161138.706977
|
| 23 |
-
21,161138.725282
|
| 24 |
-
22,161138.739907
|
| 25 |
-
23,161138.75655
|
| 26 |
-
24,161138.773736
|
| 27 |
-
25,161138.789912
|
| 28 |
-
26,161138.806887
|
| 29 |
-
27,161138.823163
|
| 30 |
-
28,161138.840263
|
| 31 |
-
29,161138.85697
|
| 32 |
-
30,161138.873386
|
| 33 |
-
31,161138.891557
|
| 34 |
-
32,161138.907607
|
| 35 |
-
33,161138.925257
|
| 36 |
-
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|
| 37 |
-
35,161138.956567
|
| 38 |
-
36,161138.973004
|
| 39 |
-
37,161138.989899
|
| 40 |
-
38,161139.006267
|
| 41 |
-
39,161139.023087
|
| 42 |
-
40,161139.039889
|
| 43 |
-
41,161139.056813
|
| 44 |
-
42,161139.073401
|
| 45 |
-
43,161139.091595
|
| 46 |
-
44,161139.107006
|
| 47 |
-
45,161139.125314
|
| 48 |
-
46,161139.139821
|
| 49 |
-
47,161139.156423
|
| 50 |
-
48,161139.173391
|
| 51 |
-
49,161139.191682
|
| 52 |
-
50,161139.206408
|
| 53 |
-
51,161139.225046
|
| 54 |
-
52,161139.239746
|
| 55 |
-
53,161139.256859
|
| 56 |
-
54,161139.273388
|
| 57 |
-
55,161139.290416
|
| 58 |
-
56,161139.306688
|
| 59 |
-
57,161139.324773
|
| 60 |
-
58,161139.339789
|
| 61 |
-
59,161139.356459
|
| 62 |
-
60,161139.373308
|
| 63 |
-
61,161139.391844
|
| 64 |
-
62,161139.406648
|
| 65 |
-
63,161139.425053
|
| 66 |
-
64,161139.439537
|
| 67 |
-
65,161139.456723
|
| 68 |
-
66,161139.473295
|
| 69 |
-
67,161139.491442
|
| 70 |
-
68,161139.506574
|
| 71 |
-
69,161139.523584
|
| 72 |
-
70,161139.539773
|
| 73 |
-
71,161139.55641
|
| 74 |
-
72,161139.572742
|
| 75 |
-
73,161139.591452
|
| 76 |
-
74,161139.606532
|
| 77 |
-
75,161139.625071
|
| 78 |
-
76,161139.639597
|
| 79 |
-
77,161139.656655
|
| 80 |
-
78,161139.673328
|
| 81 |
-
79,161139.691436
|
| 82 |
-
80,161139.70652
|
| 83 |
-
81,161139.725014
|
| 84 |
-
82,161139.739793
|
| 85 |
-
83,161139.756458
|
| 86 |
-
84,161139.772695
|
| 87 |
-
85,161139.79151
|
| 88 |
-
86,161139.806605
|
| 89 |
-
87,161139.823013
|
| 90 |
-
88,161139.839601
|
| 91 |
-
89,161139.856279
|
| 92 |
-
90,161139.873424
|
| 93 |
-
91,161139.890071
|
| 94 |
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92,161139.906787
|
| 95 |
-
93,161139.923061
|
| 96 |
-
94,161139.939893
|
| 97 |
-
95,161139.95632
|
| 98 |
-
96,161139.972806
|
| 99 |
-
97,161139.991537
|
| 100 |
-
98,161140.006563
|
| 101 |
-
99,161140.023187
|
| 102 |
-
100,161140.039859
|
| 103 |
-
101,161140.056277
|
| 104 |
-
102,161140.07342
|
| 105 |
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103,161140.089756
|
| 106 |
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104,161140.106052
|
| 107 |
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105,161140.124865
|
| 108 |
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106,161140.139789
|
| 109 |
-
107,161140.156361
|
| 110 |
-
108,161140.172753
|
| 111 |
-
109,161140.189455
|
| 112 |
-
110,161140.206236
|
| 113 |
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111,161140.223053
|
| 114 |
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112,161140.239778
|
| 115 |
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113,161140.25623
|
| 116 |
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114,161140.273463
|
| 117 |
-
115,161140.289826
|
| 118 |
-
116,161140.306121
|
| 119 |
-
117,161140.32491
|
| 120 |
-
118,161140.339858
|
| 121 |
-
119,161140.356369
|
| 122 |
-
120,161140.372768
|
| 123 |
-
121,161140.389739
|
| 124 |
-
122,161140.406534
|
| 125 |
-
123,161140.423183
|
| 126 |
-
124,161140.439852
|
| 127 |
-
125,161140.45642
|
| 128 |
-
126,161140.473028
|
| 129 |
-
127,161140.490208
|
| 130 |
-
128,161140.50631
|
| 131 |
-
129,161140.523189
|
| 132 |
-
130,161140.540966
|
| 133 |
-
131,161140.556661
|
| 134 |
-
132,161140.572951
|
| 135 |
-
133,161140.590018
|
| 136 |
-
134,161140.60635
|
| 137 |
-
135,161140.623379
|
| 138 |
-
136,161140.639451
|
| 139 |
-
137,161140.65802
|
| 140 |
-
138,161140.673321
|
| 141 |
-
139,161140.690397
|
| 142 |
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140,161140.70597
|
| 143 |
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141,161140.723189
|
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142,161140.740151
|
| 145 |
-
143,161140.757843
|
| 146 |
-
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multi_sessions_20251119_190826/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:133360de51daf586cb13ae682dd2be12052a287191da5f647553ea5c627c9625
|
| 3 |
-
size 3565343
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multi_sessions_20251119_190826/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_003/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 161138.383771s
|
| 6 |
-
Vive 第一帧时间戳: 1763550544.267448s
|
| 7 |
-
计算的 offset: -1763389405.883677s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.883677
|
| 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 19:09:13
|
| 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_190826/session_003/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_004/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1463 +0,0 @@
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timestamp,clamp
|
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161155.721274,87.69493771241248
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161162.206933,87.46769010904983
|
| 1300 |
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161162.21123,87.46769010904983
|
| 1301 |
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161162.218684,87.46769010904983
|
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161162.22201,87.46769010904983
|
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161162.226433,87.46769010904983
|
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161162.23121,87.46769010904983
|
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161162.236354,87.476791482733
|
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161162.241194,87.476791482733
|
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161162.246682,87.46769010904983
|
| 1308 |
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161162.251578,87.476791482733
|
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161162.256201,87.476791482733
|
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161162.261173,87.476791482733
|
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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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161162.30306,87.48589190150977
|
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|
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161162.311173,87.48589190150977
|
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161162.318041,87.476791482733
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|
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|
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|
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161162.336216,87.476791482733
|
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161162.341243,87.476791482733
|
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161162.346529,87.476791482733
|
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161162.351437,87.476791482733
|
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161162.35616,87.48589190150977
|
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161162.361165,87.476791482733
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161162.368852,87.48589190150977
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161162.39616,87.48589190150977
|
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161162.547082,87.48589190150977
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161162.906172,87.49499136526408
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161162.911148,87.50408987387988
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161162.916349,87.49499136526408
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161162.926836,87.50408987387988
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161162.931153,87.50408987387988
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161162.936168,87.50408987387988
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161162.941177,87.49499136526408
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161162.946159,87.50408987387988
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161162.952772,87.49499136526408
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161162.956148,87.49499136526408
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161162.966161,87.50408987387988
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161162.971788,87.50408987387988
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161162.97615,87.50408987387988
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161162.981459,87.49499136526408
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161162.991187,87.49499136526408
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161162.996154,87.50408987387988
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multi_sessions_20251119_190826/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1462 +0,0 @@
|
|
| 1 |
-
161155.721274000 87.69493771241248
|
| 2 |
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161155.726181000 87.69493771241248
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| 3 |
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161155.731277000 87.69493771241248
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| 4 |
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161155.737122000 87.69493771241248
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161155.741158000 87.69493771241248
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161155.746958000 87.69493771241248
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161155.751177000 87.69493771241248
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161155.756146000 87.70401517864401
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161155.761152000 87.69493771241248
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161155.768499000 87.69493771241248
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161155.771918000 87.69493771241248
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| 12 |
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161155.776152000 87.69493771241248
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161155.781149000 87.69493771241248
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161155.786810000 87.69493771241248
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161155.791149000 87.70401517864401
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161155.796174000 87.69493771241248
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161155.801801000 87.69493771241248
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| 18 |
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161155.806847000 87.69493771241248
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| 19 |
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161155.811275000 87.69493771241248
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| 20 |
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161155.816242000 87.69493771241248
|
| 21 |
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161155.821915000 87.69493771241248
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| 22 |
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161155.826234000 87.69493771241248
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161155.831175000 87.69493771241248
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161155.836761000 87.69493771241248
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| 25 |
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161155.841200000 87.69493771241248
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| 26 |
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161155.846856000 87.69493771241248
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| 27 |
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161155.851238000 87.69493771241248
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161155.856148000 87.69493771241248
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| 29 |
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161155.861153000 87.69493771241248
|
| 30 |
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161155.866269000 87.69493771241248
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| 31 |
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161155.871192000 87.68585928849235
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| 32 |
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161155.876153000 87.67677990699939
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| 33 |
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161155.881150000 87.65861827175821
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| 34 |
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161155.887671000 87.64045280761543
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| 35 |
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161155.891149000 87.62228351549781
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| 36 |
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161155.896390000 87.62228351549781
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| 37 |
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161155.903126000 87.61319743423809
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| 38 |
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161155.906950000 87.61319743423809
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| 39 |
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161155.911189000 87.61319743423809
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| 40 |
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161155.916540000 87.61319743423809
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| 41 |
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161155.921389000 87.61319743423809
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| 42 |
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161155.926158000 87.61319743423809
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| 43 |
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161155.931148000 87.61319743423809
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| 44 |
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161155.937277000 87.61319743423809
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| 45 |
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161155.941156000 87.61319743423809
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| 46 |
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161155.946331000 87.61319743423809
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| 47 |
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161155.951164000 87.61319743423809
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| 48 |
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161155.956124000 87.61319743423809
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| 49 |
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161155.961125000 87.61319743423809
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| 50 |
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161155.968841000 87.61319743423809
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161155.971968000 87.61319743423809
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| 52 |
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161155.976249000 87.61319743423809
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| 53 |
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161155.981124000 87.61319743423809
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| 54 |
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161155.986883000 87.61319743423809
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| 55 |
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161155.991123000 87.61319743423809
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| 56 |
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161155.996122000 87.61319743423809
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| 57 |
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161156.003742000 87.61319743423809
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| 58 |
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161156.006929000 87.61319743423809
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161156.011618000 87.61319743423809
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| 60 |
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161156.019302000 87.61319743423809
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161156.022918000 87.62228351549781
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| 62 |
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161156.026123000 87.62228351549781
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161156.031692000 87.62228351549781
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161156.036158000 87.62228351549781
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161156.041130000 87.62228351549781
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| 66 |
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161156.046942000 87.62228351549781
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| 67 |
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161156.051257000 87.61319743423809
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| 68 |
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161156.056136000 87.61319743423809
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| 69 |
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161156.061129000 87.61319743423809
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| 70 |
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161156.069855000 87.62228351549781
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161156.072931000 87.61319743423809
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| 72 |
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161156.076153000 87.60411039633226
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| 73 |
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161156.081199000 87.60411039633226
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| 74 |
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161156.086484000 87.60411039633226
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| 75 |
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161156.091123000 87.60411039633226
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161156.096167000 87.60411039633226
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161156.102688000 87.61319743423809
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161156.106183000 87.61319743423809
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161156.111165000 87.61319743423809
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161156.116362000 87.61319743423809
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161156.121275000 87.61319743423809
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161156.126122000 87.61319743423809
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161156.131121000 87.61319743423809
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| 84 |
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161156.137208000 87.62228351549781
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| 85 |
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161156.141135000 87.62228351549781
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| 86 |
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161156.146100000 87.61319743423809
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| 87 |
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161156.151163000 87.61319743423809
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| 88 |
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161156.156104000 87.61319743423809
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161156.161105000 87.61319743423809
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161156.168756000 87.61319743423809
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| 91 |
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161156.172049000 87.61319743423809
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161156.176103000 87.61319743423809
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161156.181107000 87.61319743423809
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161156.186138000 87.61319743423809
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161156.191105000 87.61319743423809
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161156.196462000 87.60411039633226
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161156.206864000 87.61319743423809
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161156.216109000 87.61319743423809
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| 101 |
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161156.221386000 87.61319743423809
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161156.226102000 87.60411039633226
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| 103 |
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161156.231117000 87.60411039633226
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161156.236138000 87.61319743423809
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161156.241110000 87.61319743423809
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161156.246099000 87.61319743423809
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161156.251430000 87.61319743423809
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161156.256234000 87.60411039633226
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| 110 |
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161156.266178000 87.61319743423809
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161156.271650000 87.61319743423809
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161156.276103000 87.61319743423809
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161156.281105000 87.61319743423809
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161156.302544000 87.61319743423809
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161156.311100000 87.61319743423809
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161156.316822000 87.61319743423809
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161156.326103000 87.61319743423809
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161156.331108000 87.61319743423809
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161156.336599000 87.61319743423809
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161156.341112000 87.61319743423809
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161156.346099000 87.61319743423809
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161156.356653000 87.61319743423809
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161156.361094000 87.61319743423809
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161156.376142000 87.61319743423809
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161156.406856000 87.61319743423809
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161156.411099000 87.61319743423809
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161156.416097000 87.61319743423809
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161156.421383000 87.61319743423809
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161156.426090000 87.61319743423809
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161162.518288000 87.48589190150977
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| 1361 |
-
161162.522002000 87.476791482733
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| 1362 |
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161162.526198000 87.476791482733
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| 1363 |
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161162.531164000 87.476791482733
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| 1364 |
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161162.536160000 87.476791482733
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| 1365 |
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161162.541194000 87.476791482733
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| 1366 |
-
161162.547082000 87.48589190150977
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| 1367 |
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161162.551260000 87.476791482733
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| 1368 |
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161162.556160000 87.476791482733
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| 1369 |
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161162.561221000 87.476791482733
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| 1370 |
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161162.569673000 87.476791482733
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| 1371 |
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161162.572932000 87.48589190150977
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| 1372 |
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161162.576159000 87.476791482733
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| 1373 |
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161162.581167000 87.476791482733
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| 1374 |
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161162.586168000 87.476791482733
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| 1375 |
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161162.591162000 87.476791482733
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| 1376 |
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161162.596178000 87.48589190150977
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| 1377 |
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161162.603357000 87.48589190150977
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| 1378 |
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161162.606920000 87.48589190150977
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| 1379 |
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161162.611164000 87.476791482733
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| 1380 |
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161162.619020000 87.476791482733
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| 1381 |
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161162.621977000 87.48589190150977
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| 1382 |
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161162.626970000 87.48589190150977
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| 1383 |
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161162.631167000 87.476791482733
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| 1384 |
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161162.636177000 87.48589190150977
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| 1385 |
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161162.641245000 87.476791482733
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| 1386 |
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161162.646963000 87.48589190150977
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| 1387 |
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161162.651209000 87.48589190150977
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| 1388 |
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161162.656192000 87.48589190150977
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| 1389 |
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161162.661175000 87.48589190150977
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| 1390 |
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161162.666798000 87.476791482733
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| 1391 |
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161162.671181000 87.476791482733
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| 1392 |
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161162.676171000 87.48589190150977
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| 1393 |
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161162.681175000 87.48589190150977
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161162.686617000 87.48589190150977
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161162.691167000 87.48589190150977
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161162.696179000 87.48589190150977
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161162.702989000 87.48589190150977
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161162.706236000 87.48589190150977
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| 1399 |
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161162.711164000 87.48589190150977
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161162.716344000 87.48589190150977
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161162.721651000 87.48589190150977
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161162.726224000 87.48589190150977
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| 1403 |
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161162.731168000 87.48589190150977
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161162.736697000 87.48589190150977
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161162.741212000 87.48589190150977
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| 1406 |
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161162.746167000 87.48589190150977
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| 1407 |
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161162.752075000 87.48589190150977
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| 1408 |
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161162.756157000 87.48589190150977
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| 1409 |
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161162.761165000 87.48589190150977
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| 1410 |
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161162.767655000 87.48589190150977
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| 1411 |
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161162.771160000 87.48589190150977
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| 1412 |
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161162.776156000 87.48589190150977
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| 1413 |
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161162.781748000 87.48589190150977
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| 1414 |
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161162.787137000 87.49499136526408
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| 1415 |
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161162.791172000 87.49499136526408
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| 1416 |
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161162.796416000 87.49499136526408
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161162.802920000 87.49499136526408
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| 1418 |
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161162.806161000 87.49499136526408
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| 1419 |
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161162.811161000 87.49499136526408
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| 1420 |
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161162.816334000 87.49499136526408
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| 1421 |
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161162.821482000 87.49499136526408
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| 1422 |
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161162.826848000 87.49499136526408
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| 1423 |
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161162.831210000 87.49499136526408
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| 1424 |
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161162.836161000 87.49499136526408
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| 1425 |
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161162.841162000 87.49499136526408
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| 1426 |
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161162.846206000 87.49499136526408
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| 1427 |
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161162.852094000 87.49499136526408
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| 1428 |
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161162.856159000 87.50408987387988
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| 1429 |
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161162.861163000 87.50408987387988
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| 1430 |
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161162.866290000 87.50408987387988
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| 1431 |
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161162.872169000 87.49499136526408
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| 1432 |
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161162.876152000 87.49499136526408
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| 1433 |
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161162.881153000 87.49499136526408
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| 1434 |
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161162.886627000 87.49499136526408
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| 1435 |
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161162.891150000 87.49499136526408
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| 1436 |
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161162.896157000 87.49499136526408
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| 1437 |
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161162.902971000 87.49499136526408
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| 1438 |
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161162.906172000 87.49499136526408
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| 1439 |
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161162.911148000 87.50408987387988
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| 1440 |
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161162.916349000 87.49499136526408
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| 1441 |
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161162.921166000 87.49499136526408
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| 1442 |
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161162.926836000 87.50408987387988
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| 1443 |
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161162.931153000 87.50408987387988
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| 1444 |
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161162.936168000 87.50408987387988
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| 1445 |
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161162.941177000 87.49499136526408
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| 1446 |
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161162.946159000 87.50408987387988
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| 1447 |
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161162.952772000 87.49499136526408
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| 1448 |
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161162.956148000 87.49499136526408
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| 1449 |
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161162.961155000 87.49499136526408
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| 1450 |
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161162.966161000 87.50408987387988
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| 1451 |
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161162.971788000 87.50408987387988
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| 1452 |
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161162.976150000 87.50408987387988
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| 1453 |
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161162.981459000 87.49499136526408
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| 1454 |
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161162.986891000 87.49499136526408
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| 1455 |
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161162.991187000 87.49499136526408
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| 1456 |
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161162.996154000 87.50408987387988
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| 1457 |
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161163.002876000 87.50408987387988
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| 1458 |
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161163.006164000 87.50408987387988
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| 1459 |
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161163.011160000 87.50408987387988
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| 1460 |
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161163.016409000 87.50408987387988
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| 1461 |
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161163.021217000 87.50408987387988
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| 1462 |
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161163.026207000 87.50408987387988
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multi_sessions_20251119_190826/session_004/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 730
|
| 19 |
-
均值融合 (都低速): 730
|
| 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 19:09:30
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
|
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|
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multi_sessions_20251119_190826/session_004/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_190826/session_004/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_190826/session_004/RGB_Images/timestamps.csv
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frame_index,timestamp
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|
multi_sessions_20251119_190826/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:a95e734dbacee1fe744d1a806275220570dde16f014064192bdfcd39ae6455b3
|
| 3 |
-
size 3526900
|
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|
multi_sessions_20251119_190826/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/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: 161155.721773s
|
| 6 |
-
Vive 第一帧时间戳: 1763550561.607484s
|
| 7 |
-
计算的 offset: -1763389405.885711s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.885711
|
| 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 19:09:30
|
| 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_190826/session_004/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_005/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1524 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
161171.390806,87.74938814042085
|
| 3 |
-
161171.395722,87.74938814042085
|
| 4 |
-
161171.402313,87.74938814042085
|
| 5 |
-
161171.405727,87.75845985808992
|
| 6 |
-
161171.410726,87.74938814042085
|
| 7 |
-
161171.417473,87.74938814042085
|
| 8 |
-
161171.420737,87.74938814042085
|
| 9 |
-
161171.426244,87.74938814042085
|
| 10 |
-
161171.430724,87.74938814042085
|
| 11 |
-
161171.436155,87.74938814042085
|
| 12 |
-
161171.440728,87.74938814042085
|
| 13 |
-
161171.446195,87.74938814042085
|
| 14 |
-
161171.450758,87.74938814042085
|
| 15 |
-
161171.455718,87.74938814042085
|
| 16 |
-
161171.460721,87.74938814042085
|
| 17 |
-
161171.4666,87.74938814042085
|
| 18 |
-
161171.470718,87.74938814042085
|
| 19 |
-
161171.47583,87.74938814042085
|
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161178.585648,86.7915467671006
|
| 1442 |
-
161178.590593,86.7915467671006
|
| 1443 |
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161178.595591,86.7915467671006
|
| 1444 |
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161178.601181,86.7915467671006
|
| 1445 |
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161178.605591,86.7915467671006
|
| 1446 |
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161178.610597,86.7915467671006
|
| 1447 |
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161178.615919,86.7915467671006
|
| 1448 |
-
161178.62059,86.78237410711333
|
| 1449 |
-
161178.625589,86.7915467671006
|
| 1450 |
-
161178.63063,86.7915467671006
|
| 1451 |
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161178.635659,86.78237410711333
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| 1452 |
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161178.640591,86.78237410711333
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| 1453 |
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161178.647403,86.78237410711333
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| 1454 |
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161178.65083,86.78237410711333
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| 1455 |
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161178.655743,86.7915467671006
|
| 1456 |
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161178.660776,86.78237410711333
|
| 1457 |
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161178.665782,86.78237410711333
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| 1458 |
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161178.670597,86.7915467671006
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| 1459 |
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161178.675587,86.78237410711333
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| 1460 |
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161178.68239,86.78237410711333
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| 1461 |
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161178.685592,86.78237410711333
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| 1462 |
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161178.691139,86.78237410711333
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| 1463 |
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161178.695588,86.78237410711333
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| 1464 |
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161178.702255,86.78237410711333
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| 1465 |
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161178.705591,86.78237410711333
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| 1466 |
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161178.710596,86.78237410711333
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| 1467 |
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161178.716297,86.78237410711333
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| 1468 |
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161178.720591,86.7915467671006
|
| 1469 |
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161178.725824,86.78237410711333
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| 1470 |
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161178.730698,86.78237410711333
|
| 1471 |
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161178.735595,86.78237410711333
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| 1472 |
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161178.740615,86.78237410711333
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| 1473 |
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161178.749242,86.78237410711333
|
| 1474 |
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161178.752337,86.78237410711333
|
| 1475 |
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161178.755971,86.78237410711333
|
| 1476 |
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161178.760595,86.78237410711333
|
| 1477 |
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161178.765694,86.78237410711333
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| 1478 |
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161178.770593,86.78237410711333
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| 1479 |
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161178.775614,86.78237410711333
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| 1480 |
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161178.782787,86.78237410711333
|
| 1481 |
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161178.786335,86.78237410711333
|
| 1482 |
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161178.790679,86.78237410711333
|
| 1483 |
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161178.795591,86.78237410711333
|
| 1484 |
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161178.80204,86.78237410711333
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| 1485 |
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161178.805595,86.78237410711333
|
| 1486 |
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161178.810592,86.7915467671006
|
| 1487 |
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161178.816543,86.7915467671006
|
| 1488 |
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161178.820594,86.7915467671006
|
| 1489 |
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161178.825918,86.7915467671006
|
| 1490 |
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161178.83117,86.78237410711333
|
| 1491 |
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161178.83559,86.78237410711333
|
| 1492 |
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161178.840631,86.78237410711333
|
| 1493 |
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161178.848796,86.78237410711333
|
| 1494 |
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161178.852337,86.7915467671006
|
| 1495 |
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161178.855654,86.7915467671006
|
| 1496 |
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161178.860729,86.7915467671006
|
| 1497 |
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161178.867043,86.7915467671006
|
| 1498 |
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161178.870649,86.7915467671006
|
| 1499 |
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161178.875588,86.7915467671006
|
| 1500 |
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161178.881713,86.78237410711333
|
| 1501 |
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161178.885588,86.78237410711333
|
| 1502 |
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161178.890594,86.78237410711333
|
| 1503 |
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161178.89559,86.78237410711333
|
| 1504 |
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161178.901796,86.7915467671006
|
| 1505 |
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161178.905594,86.7915467671006
|
| 1506 |
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161178.91059,86.7915467671006
|
| 1507 |
-
161178.916187,86.78237410711333
|
| 1508 |
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161178.920592,86.78237410711333
|
| 1509 |
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161178.926058,86.78237410711333
|
| 1510 |
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161178.933394,86.78237410711333
|
| 1511 |
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161178.936346,86.77320050107619
|
| 1512 |
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161178.940639,86.78237410711333
|
| 1513 |
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161178.946621,86.78237410711333
|
| 1514 |
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161178.951352,86.78237410711333
|
| 1515 |
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161178.955588,86.78237410711333
|
| 1516 |
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161178.9606,86.78237410711333
|
| 1517 |
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161178.967737,86.78237410711333
|
| 1518 |
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161178.971346,86.78237410711333
|
| 1519 |
-
161178.975587,86.78237410711333
|
| 1520 |
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161178.980692,86.78237410711333
|
| 1521 |
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161178.985822,86.78237410711333
|
| 1522 |
-
161178.990588,86.78237410711333
|
| 1523 |
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161178.995589,86.7915467671006
|
| 1524 |
-
161179.001839,86.7915467671006
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|
multi_sessions_20251119_190826/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1523 +0,0 @@
|
|
| 1 |
-
161171.390806000 87.74938814042085
|
| 2 |
-
161171.395722000 87.74938814042085
|
| 3 |
-
161171.402313000 87.74938814042085
|
| 4 |
-
161171.405727000 87.75845985808992
|
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161178.510605000 86.7915467671006
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| 1426 |
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161178.516308000 86.7915467671006
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| 1427 |
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161178.520599000 86.7915467671006
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| 1428 |
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161178.525607000 86.7915467671006
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161178.530749000 86.7915467671006
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161178.535604000 86.7915467671006
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161178.540632000 86.7915467671006
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161178.549199000 86.78237410711333
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161178.552346000 86.78237410711333
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161178.556032000 86.7915467671006
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161178.560603000 86.78237410711333
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161178.565995000 86.7915467671006
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161178.570607000 86.7915467671006
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161178.575629000 86.7915467671006
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161178.581426000 86.7915467671006
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161178.585648000 86.7915467671006
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161178.595591000 86.7915467671006
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161178.620590000 86.78237410711333
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161178.630630000 86.7915467671006
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161178.635659000 86.78237410711333
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161178.640591000 86.78237410711333
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161178.650830000 86.78237410711333
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161178.655743000 86.7915467671006
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161178.660776000 86.78237410711333
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161178.665782000 86.78237410711333
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161178.682390000 86.78237410711333
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161178.831170000 86.78237410711333
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161178.852337000 86.7915467671006
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161178.855654000 86.7915467671006
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161178.867043000 86.7915467671006
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161178.875588000 86.7915467671006
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161178.881713000 86.78237410711333
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161178.885588000 86.78237410711333
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161178.890594000 86.78237410711333
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161178.895590000 86.78237410711333
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161178.901796000 86.7915467671006
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161178.905594000 86.7915467671006
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161178.910590000 86.7915467671006
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161178.916187000 86.78237410711333
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161178.920592000 86.78237410711333
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161178.926058000 86.78237410711333
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161178.933394000 86.78237410711333
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161178.936346000 86.77320050107619
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161178.940639000 86.78237410711333
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161178.946621000 86.78237410711333
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161178.955588000 86.78237410711333
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161178.960600000 86.78237410711333
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161178.967737000 86.78237410711333
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161178.971346000 86.78237410711333
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161178.975587000 86.78237410711333
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161178.980692000 86.78237410711333
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161178.985822000 86.78237410711333
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161178.990588000 86.78237410711333
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161178.995589000 86.7915467671006
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161179.001839000 86.7915467671006
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multi_sessions_20251119_190826/session_005/Merged_Trajectory/merge_stats.txt
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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: 761
|
| 19 |
-
均值融合 (都低速): 761
|
| 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 19:09:46
|
| 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_190826/session_005/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_190826/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
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multi_sessions_20251119_190826/session_005/RGB_Images/timestamps.csv
DELETED
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frame_index,timestamp
|
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0,161171.385551
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301,161176.399299
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302,161176.41598
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|
multi_sessions_20251119_190826/session_005/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:4d82f34bab24d1528f18b05a1c91ac4f5caa8a10fe3cd9c4087af567d68104f1
|
| 3 |
-
size 3821523
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|
multi_sessions_20251119_190826/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_190826/session_005/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 161171.393816s
|
| 6 |
-
Vive 第一帧时间戳: 1763550577.277542s
|
| 7 |
-
计算的 offset: -1763389405.883726s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.883726
|
| 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 19:09:46
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
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Vive 序列号: LHR_B728E669
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