Delete multi_sessions_20251119_183701
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- multi_sessions_20251119_183701/collection_summary.txt +0 -93
- multi_sessions_20251119_183701/session_001/Clamp_Data/clamp.csv +0 -1547
- multi_sessions_20251119_183701/session_001/Clamp_Data/clamp_data_tum.txt +0 -1546
- multi_sessions_20251119_183701/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183701/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183701/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183701/session_001/RGB_Images/timestamps.csv +0 -465
- multi_sessions_20251119_183701/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183701/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183701/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183701/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183701/session_002/Clamp_Data/clamp.csv +0 -1735
- multi_sessions_20251119_183701/session_002/Clamp_Data/clamp_data_tum.txt +0 -1734
- multi_sessions_20251119_183701/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183701/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183701/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183701/session_002/RGB_Images/timestamps.csv +0 -522
- multi_sessions_20251119_183701/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183701/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183701/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183701/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183701/session_003/Clamp_Data/clamp.csv +0 -1475
- multi_sessions_20251119_183701/session_003/Clamp_Data/clamp_data_tum.txt +0 -1474
- multi_sessions_20251119_183701/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183701/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183701/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183701/session_003/RGB_Images/timestamps.csv +0 -443
- multi_sessions_20251119_183701/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183701/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183701/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183701/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183701/session_004/Clamp_Data/clamp.csv +0 -1490
- multi_sessions_20251119_183701/session_004/Clamp_Data/clamp_data_tum.txt +0 -1489
- multi_sessions_20251119_183701/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183701/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183701/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183701/session_004/RGB_Images/timestamps.csv +0 -448
- multi_sessions_20251119_183701/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183701/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183701/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183701/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183701/session_005/Clamp_Data/clamp.csv +0 -1271
- multi_sessions_20251119_183701/session_005/Clamp_Data/clamp_data_tum.txt +0 -1270
- multi_sessions_20251119_183701/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183701/session_005/Merged_Trajectory/merged_trajectory.csv +0 -635
- multi_sessions_20251119_183701/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183701/session_005/RGB_Images/timestamps.csv +0 -383
- multi_sessions_20251119_183701/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183701/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183701/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_183701/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 18:37:02 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: 5
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会话间隔: 3秒
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摘要目录: ./multi_sessions_20251119_183701
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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 18:37:02 CST
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输出目录: ./multi_sessions_20251119_183701/session_001
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结束时间: 2025年 11月 19日 星期三 18:37:17 CST
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持续时间: 15秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_183701/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 18:37:21 CST
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输出目录: ./multi_sessions_20251119_183701/session_002
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结束时间: 2025年 11月 19日 星期三 18:37:35 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_183701/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 18:37:39 CST
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输出目录: ./multi_sessions_20251119_183701/session_003
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结束时间: 2025年 11月 19日 星期三 18:37:56 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_183701/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 18:38:01 CST
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输出目录: ./multi_sessions_20251119_183701/session_004
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结束时间: 2025年 11月 19日 星期三 18:38:14 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_183701/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 18:38:18 CST
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输出目录: ./multi_sessions_20251119_183701/session_005
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结束时间: 2025年 11月 19日 星期三 18:38:30 CST
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持续时间: 12秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_183701/session_005
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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 18:38:30 CST
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成功会话数: 5
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失败会话数: 0
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总计划会话数: 5
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实际完成会话数: 5
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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_183701/
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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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└─ collection_summary.txt
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multi_sessions_20251119_183701/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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|
multi_sessions_20251119_183701/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1546 +0,0 @@
|
|
| 1 |
-
159218.884599000 87.31282076828322
|
| 2 |
-
159218.889204000 87.31282076828322
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| 3 |
-
159218.895217000 87.31282076828322
|
| 4 |
-
159218.899210000 87.31282076828322
|
| 5 |
-
159218.904195000 87.31282076828322
|
| 6 |
-
159218.909204000 87.30370222614593
|
| 7 |
-
159218.916189000 87.30370222614593
|
| 8 |
-
159218.919923000 87.31282076828322
|
| 9 |
-
159218.925065000 87.31282076828322
|
| 10 |
-
159218.929721000 87.31282076828322
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| 11 |
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159218.934741000 87.31282076828322
|
| 12 |
-
159218.939196000 87.31282076828322
|
| 13 |
-
159218.944214000 87.32193835760535
|
| 14 |
-
159218.949719000 87.32193835760535
|
| 15 |
-
159218.954258000 87.32193835760535
|
| 16 |
-
159218.959198000 87.32193835760535
|
| 17 |
-
159218.965059000 87.31282076828322
|
| 18 |
-
159218.969250000 87.31282076828322
|
| 19 |
-
159218.974192000 87.31282076828322
|
| 20 |
-
159218.979412000 87.31282076828322
|
| 21 |
-
159218.984195000 87.31282076828322
|
| 22 |
-
159218.989209000 87.31282076828322
|
| 23 |
-
159218.994465000 87.31282076828322
|
| 24 |
-
159218.999206000 87.31282076828322
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| 25 |
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159219.004179000 87.31282076828322
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| 26 |
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159219.009193000 87.31282076828322
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| 27 |
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159219.017412000 87.31282076828322
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| 28 |
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159219.020963000 87.31282076828322
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| 29 |
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159219.024963000 87.31282076828322
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| 30 |
-
159219.030211000 87.30370222614593
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| 31 |
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159219.034182000 87.31282076828322
|
| 32 |
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159219.039190000 87.31282076828322
|
| 33 |
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159219.044182000 87.31282076828322
|
| 34 |
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159219.049532000 87.31282076828322
|
| 35 |
-
159219.054190000 87.31282076828322
|
| 36 |
-
159219.059245000 87.31282076828322
|
| 37 |
-
159219.065029000 87.31282076828322
|
| 38 |
-
159219.069394000 87.30370222614593
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| 39 |
-
159219.074192000 87.30370222614593
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| 40 |
-
159219.079189000 87.31282076828322
|
| 41 |
-
159219.084635000 87.31282076828322
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| 42 |
-
159219.089202000 87.31282076828322
|
| 43 |
-
159219.094179000 87.31282076828322
|
| 44 |
-
159219.099261000 87.31282076828322
|
| 45 |
-
159219.104186000 87.31282076828322
|
| 46 |
-
159219.109387000 87.31282076828322
|
| 47 |
-
159219.114618000 87.31282076828322
|
| 48 |
-
159219.119188000 87.31282076828322
|
| 49 |
-
159219.124180000 87.31282076828322
|
| 50 |
-
159219.129686000 87.31282076828322
|
| 51 |
-
159219.134662000 87.31282076828322
|
| 52 |
-
159219.139185000 87.31282076828322
|
| 53 |
-
159219.144237000 87.31282076828322
|
| 54 |
-
159219.149526000 87.31282076828322
|
| 55 |
-
159219.154247000 87.31282076828322
|
| 56 |
-
159219.159235000 87.31282076828322
|
| 57 |
-
159219.165018000 87.30370222614593
|
| 58 |
-
159219.169247000 87.31282076828322
|
| 59 |
-
159219.174183000 87.30370222614593
|
| 60 |
-
159219.179319000 87.31282076828322
|
| 61 |
-
159219.184185000 87.31282076828322
|
| 62 |
-
159219.189188000 87.30370222614593
|
| 63 |
-
159219.194371000 87.30370222614593
|
| 64 |
-
159219.199592000 87.31282076828322
|
| 65 |
-
159219.204427000 87.31282076828322
|
| 66 |
-
159219.209281000 87.31282076828322
|
| 67 |
-
159219.214175000 87.31282076828322
|
| 68 |
-
159219.219184000 87.31282076828322
|
| 69 |
-
159219.224468000 87.31282076828322
|
| 70 |
-
159219.231654000 87.31282076828322
|
| 71 |
-
159219.234878000 87.31282076828322
|
| 72 |
-
159219.239630000 87.31282076828322
|
| 73 |
-
159219.244788000 87.31282076828322
|
| 74 |
-
159219.250812000 87.31282076828322
|
| 75 |
-
159219.254208000 87.31282076828322
|
| 76 |
-
159219.259162000 87.31282076828322
|
| 77 |
-
159219.265546000 87.31282076828322
|
| 78 |
-
159219.269165000 87.30370222614593
|
| 79 |
-
159219.274156000 87.31282076828322
|
| 80 |
-
159219.279167000 87.31282076828322
|
| 81 |
-
159219.284662000 87.31282076828322
|
| 82 |
-
159219.289174000 87.31282076828322
|
| 83 |
-
159219.294602000 87.31282076828322
|
| 84 |
-
159219.299344000 87.30370222614593
|
| 85 |
-
159219.304155000 87.30370222614593
|
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| 1523 |
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159226.499581000 87.42216892110109
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| 1525 |
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159226.504498000 87.42216892110109
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| 1526 |
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159226.508856000 87.42216892110109
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| 1527 |
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159226.513943000 87.42216892110109
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| 1528 |
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159226.518862000 87.42216892110109
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| 1529 |
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159226.524123000 87.42216892110109
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| 1530 |
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159226.529335000 87.42216892110109
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| 1531 |
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| 1532 |
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159226.538846000 87.43127506757487
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| 1533 |
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159226.544171000 87.43127506757487
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| 1534 |
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159226.550702000 87.43127506757487
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| 1535 |
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159226.553845000 87.42216892110109
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159226.559048000 87.42216892110109
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159226.579873000 87.43127506757487
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159226.599609000 87.43127506757487
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| 1545 |
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159226.603838000 87.43127506757487
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| 1546 |
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159226.609133000 87.43127506757487
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|
multi_sessions_20251119_183701/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: 773
|
| 19 |
-
均值融合 (都低速): 773
|
| 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 18:37:14
|
| 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_183701/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,465 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159218.88293
|
| 3 |
-
1,159218.900742
|
| 4 |
-
2,159218.916229
|
| 5 |
-
3,159218.933392
|
| 6 |
-
4,159218.949022
|
| 7 |
-
5,159218.965179
|
| 8 |
-
6,159218.982523
|
| 9 |
-
7,159219.000384
|
| 10 |
-
8,159219.016038
|
| 11 |
-
9,159219.033422
|
| 12 |
-
10,159219.048807
|
| 13 |
-
11,159219.066305
|
| 14 |
-
12,159219.083173
|
| 15 |
-
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428,159226.015244
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429,159226.030862
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431,159226.063192
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432,159226.080823
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448,159226.349166
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449,159226.365018
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450,159226.381178
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451,159226.396805
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452,159226.414278
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453,159226.430471
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454,159226.44991
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455,159226.464837
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456,159226.480948
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457,159226.496335
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458,159226.514436
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459,159226.532328
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460,159226.54996
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461,159226.56294
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462,159226.581411
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|
multi_sessions_20251119_183701/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:740f78276ab03d853cfa81d5d18b9369f82a7c8c5e72f09853d36749da646f22
|
| 3 |
-
size 3798087
|
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|
multi_sessions_20251119_183701/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/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: 159218.881982s
|
| 6 |
-
Vive 第一帧时间戳: 1763548624.762510s
|
| 7 |
-
计算的 offset: -1763389405.880528s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.880528
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:37:14
|
| 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_183701/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_183701/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1735 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
159236.038304,87.9215867607907
|
| 3 |
-
159236.045389,87.9215867607907
|
| 4 |
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159236.049306,87.93064024721257
|
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159236.053286,87.93064024721257
|
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159236.058434,87.9215867607907
|
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159236.063574,87.9215867607907
|
| 8 |
-
159236.068294,87.9215867607907
|
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159236.074421,87.9215867607907
|
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159236.078366,87.93064024721257
|
| 11 |
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159236.083284,87.93064024721257
|
| 12 |
-
159236.088311,87.93064024721257
|
| 13 |
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159236.095296,87.93064024721257
|
| 14 |
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159236.099016,87.9215867607907
|
| 15 |
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159236.103523,87.93064024721257
|
| 16 |
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159236.108557,87.93064024721257
|
| 17 |
-
159236.113625,87.9215867607907
|
| 18 |
-
159236.11832,87.9215867607907
|
| 19 |
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159236.123659,87.93064024721257
|
| 20 |
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159236.12842,87.93064024721257
|
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159236.133282,87.93064024721257
|
| 22 |
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159236.138288,87.93064024721257
|
| 23 |
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159236.146124,87.93064024721257
|
| 24 |
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159236.14906,87.93064024721257
|
| 25 |
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159236.153284,87.93064024721257
|
| 26 |
-
159236.158321,87.9215867607907
|
| 27 |
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159236.163733,87.9215867607907
|
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159236.168289,87.9215867607907
|
| 29 |
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159236.173279,87.9215867607907
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159236.178332,87.9215867607907
|
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159236.183284,87.9215867607907
|
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159236.188289,87.9215867607907
|
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159236.194357,87.93064024721257
|
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|
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159236.203775,87.93064024721257
|
| 36 |
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159236.208765,87.93064024721257
|
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159236.213896,87.93064024721257
|
| 38 |
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159236.218295,87.9215867607907
|
| 39 |
-
159236.223282,87.93064024721257
|
| 40 |
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159236.228404,87.93064024721257
|
| 41 |
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159236.23328,87.93064024721257
|
| 42 |
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159236.23829,87.9215867607907
|
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159236.245277,87.9215867607907
|
| 44 |
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159236.249369,87.93064024721257
|
| 45 |
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159236.253283,87.93064024721257
|
| 46 |
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159236.258369,87.93064024721257
|
| 47 |
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159236.263442,87.93064024721257
|
| 48 |
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159236.268467,87.93064024721257
|
| 49 |
-
159236.273279,87.93064024721257
|
| 50 |
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159236.278388,87.93064024721257
|
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159236.283287,87.93064024721257
|
| 52 |
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159236.288274,87.93064024721257
|
| 53 |
-
159236.295081,87.9215867607907
|
| 54 |
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159236.298286,87.93064024721257
|
| 55 |
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|
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159236.308338,87.93064024721257
|
| 57 |
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159236.31333,87.93064024721257
|
| 58 |
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159236.318272,87.93064024721257
|
| 59 |
-
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|
multi_sessions_20251119_183701/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1734 +0,0 @@
|
|
| 1 |
-
159236.038304000 87.9215867607907
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| 2 |
-
159236.045389000 87.9215867607907
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| 3 |
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159236.049306000 87.93064024721257
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| 4 |
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159236.053286000 87.93064024721257
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| 5 |
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| 6 |
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159236.063574000 87.9215867607907
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
-
159236.108557000 87.93064024721257
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| 16 |
-
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| 17 |
-
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| 18 |
-
159236.123659000 87.93064024721257
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| 19 |
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159236.128420000 87.93064024721257
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| 20 |
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159236.133282000 87.93064024721257
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| 21 |
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159236.138288000 87.93064024721257
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| 22 |
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159236.146124000 87.93064024721257
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| 23 |
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159236.149060000 87.93064024721257
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| 24 |
-
159236.153284000 87.93064024721257
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| 25 |
-
159236.158321000 87.9215867607907
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| 26 |
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159236.163733000 87.9215867607907
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| 27 |
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159236.168289000 87.9215867607907
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| 28 |
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159236.173279000 87.9215867607907
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| 30 |
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159236.183284000 87.9215867607907
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| 32 |
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| 33 |
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159236.198285000 87.93064024721257
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| 34 |
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159236.203775000 87.93064024721257
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| 35 |
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| 36 |
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159236.213896000 87.93064024721257
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| 37 |
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159236.218295000 87.9215867607907
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| 38 |
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159236.223282000 87.93064024721257
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| 39 |
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159236.228404000 87.93064024721257
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| 40 |
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159236.233280000 87.93064024721257
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| 41 |
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159236.238290000 87.9215867607907
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| 42 |
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159236.245277000 87.9215867607907
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| 43 |
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159236.249369000 87.93064024721257
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| 44 |
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159236.253283000 87.93064024721257
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| 45 |
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159236.258369000 87.93064024721257
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| 46 |
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159236.263442000 87.93064024721257
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| 47 |
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159236.268467000 87.93064024721257
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| 48 |
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159236.273279000 87.93064024721257
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| 49 |
-
159236.278388000 87.93064024721257
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| 50 |
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159236.283287000 87.93064024721257
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| 51 |
-
159236.288274000 87.93064024721257
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| 52 |
-
159236.295081000 87.9215867607907
|
| 53 |
-
159236.298286000 87.93064024721257
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| 54 |
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159236.303660000 87.93064024721257
|
| 55 |
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159236.308338000 87.93064024721257
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| 56 |
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159236.313330000 87.93064024721257
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| 57 |
-
159236.318272000 87.93064024721257
|
| 58 |
-
159236.323766000 87.93064024721257
|
| 59 |
-
159236.329960000 87.93064024721257
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| 60 |
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159236.333262000 87.93064024721257
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| 61 |
-
159236.338269000 87.93064024721257
|
| 62 |
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159236.343799000 87.93064024721257
|
| 63 |
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159236.349715000 87.9215867607907
|
| 64 |
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159236.353272000 87.93064024721257
|
| 65 |
-
159236.358337000 87.9215867607907
|
| 66 |
-
159236.363504000 87.9215867607907
|
| 67 |
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159236.368267000 87.9215867607907
|
| 68 |
-
159236.373263000 87.9215867607907
|
| 69 |
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159236.378495000 87.93064024721257
|
| 70 |
-
159236.383274000 87.93064024721257
|
| 71 |
-
159236.388324000 87.93064024721257
|
| 72 |
-
159236.395241000 87.93064024721257
|
| 73 |
-
159236.398983000 87.93064024721257
|
| 74 |
-
159236.403291000 87.93064024721257
|
| 75 |
-
159236.408591000 87.93064024721257
|
| 76 |
-
159236.413773000 87.9215867607907
|
| 77 |
-
159236.418287000 87.9215867607907
|
| 78 |
-
159236.423401000 87.9215867607907
|
| 79 |
-
159236.429229000 87.9215867607907
|
| 80 |
-
159236.433263000 87.9215867607907
|
| 81 |
-
159236.438275000 87.9215867607907
|
| 82 |
-
159236.443308000 87.9215867607907
|
| 83 |
-
159236.448642000 87.9215867607907
|
| 84 |
-
159236.453268000 87.9215867607907
|
| 85 |
-
159236.460600000 87.93064024721257
|
| 86 |
-
159236.464032000 87.93064024721257
|
| 87 |
-
159236.468304000 87.93064024721257
|
| 88 |
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159236.473263000 87.93969277293971
|
| 89 |
-
159236.478585000 87.93064024721257
|
| 90 |
-
159236.483273000 87.93064024721257
|
| 91 |
-
159236.488304000 87.93064024721257
|
| 92 |
-
159236.495384000 87.93064024721257
|
| 93 |
-
159236.498966000 87.93064024721257
|
| 94 |
-
159236.503437000 87.93064024721257
|
| 95 |
-
159236.508434000 87.93064024721257
|
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159243.812849000 86.77320050107619
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| 1557 |
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159243.817917000 86.77320050107619
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| 1558 |
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159243.822865000 86.76402594910616
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159243.832843000 86.76402594910616
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159243.837850000 86.76402594910616
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159243.872852000 86.77320050107619
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159243.878050000 86.76402594910616
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159243.887847000 86.77320050107619
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159243.922863000 86.76402594910616
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159243.928029000 86.77320050107619
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159243.932835000 86.76402594910616
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159243.937841000 86.76402594910616
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159243.958392000 86.76402594910616
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159243.967851000 86.76402594910616
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159243.987879000 86.76402594910616
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159244.002838000 86.75485045132025
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159244.087842000 86.76402594910616
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159244.457900000 86.75485045132025
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159244.528772000 86.75485045132025
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159244.552804000 86.75485045132025
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159244.562804000 86.75485045132025
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159244.567809000 86.75485045132025
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159244.573686000 86.74567400783549
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159244.578040000 86.75485045132025
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159244.582809000 86.75485045132025
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159244.587810000 86.75485045132025
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159244.593436000 86.75485045132025
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159244.597804000 86.75485045132025
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159244.602802000 86.75485045132025
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159244.607813000 86.75485045132025
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159244.613841000 86.75485045132025
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159244.617802000 86.75485045132025
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159244.622830000 86.75485045132025
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159244.628639000 86.76402594910616
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159244.632798000 86.75485045132025
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159244.637851000 86.76402594910616
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159244.642811000 86.76402594910616
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159244.648654000 86.75485045132025
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159244.652813000 86.76402594910616
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159244.657836000 86.76402594910616
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159244.662789000 86.76402594910616
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159244.667800000 86.76402594910616
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159244.673929000 86.76402594910616
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159244.677868000 86.76402594910616
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159244.687798000 86.75485045132025
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159244.693360000 86.74567400783549
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159244.697790000 86.74567400783549
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159244.702790000 86.74567400783549
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multi_sessions_20251119_183701/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: 866
|
| 19 |
-
均值融合 (都低速): 866
|
| 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 18:37:32
|
| 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_183701/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,522 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159236.027733
|
| 3 |
-
1,159236.046637
|
| 4 |
-
2,159236.063099
|
| 5 |
-
3,159236.080652
|
| 6 |
-
4,159236.094593
|
| 7 |
-
5,159236.115101
|
| 8 |
-
6,159236.127696
|
| 9 |
-
7,159236.14648
|
| 10 |
-
8,159236.163264
|
| 11 |
-
9,159236.181653
|
| 12 |
-
10,159236.194458
|
| 13 |
-
11,159236.212698
|
| 14 |
-
12,159236.22773
|
| 15 |
-
13,159236.246589
|
| 16 |
-
14,159236.262963
|
| 17 |
-
15,159236.279413
|
| 18 |
-
16,159236.294564
|
| 19 |
-
17,159236.315289
|
| 20 |
-
18,159236.327834
|
| 21 |
-
19,159236.347417
|
| 22 |
-
20,159236.36289
|
| 23 |
-
21,159236.380492
|
| 24 |
-
22,159236.394507
|
| 25 |
-
23,159236.413952
|
| 26 |
-
24,159236.427839
|
| 27 |
-
25,159236.447347
|
| 28 |
-
26,159236.460785
|
| 29 |
-
27,159236.480692
|
| 30 |
-
28,159236.49466
|
| 31 |
-
29,159236.515308
|
| 32 |
-
30,159236.527693
|
| 33 |
-
31,159236.545309
|
| 34 |
-
32,159236.56267
|
| 35 |
-
33,159236.578881
|
| 36 |
-
34,159236.594354
|
| 37 |
-
35,159236.61471
|
| 38 |
-
36,159236.627733
|
| 39 |
-
37,159236.647139
|
| 40 |
-
38,159236.66294
|
| 41 |
-
39,159236.681281
|
| 42 |
-
40,159236.694443
|
| 43 |
-
41,159236.71529
|
| 44 |
-
42,159236.727798
|
| 45 |
-
43,159236.74642
|
| 46 |
-
44,159236.762975
|
| 47 |
-
45,159236.78032
|
| 48 |
-
46,159236.794229
|
| 49 |
-
47,159236.814097
|
| 50 |
-
48,159236.827492
|
| 51 |
-
49,159236.846462
|
| 52 |
-
50,159236.860741
|
| 53 |
-
51,159236.881468
|
| 54 |
-
52,159236.894283
|
| 55 |
-
53,159236.915224
|
| 56 |
-
54,159236.927733
|
| 57 |
-
55,159236.949223
|
| 58 |
-
56,159236.962799
|
| 59 |
-
57,159236.979139
|
| 60 |
-
58,159236.994321
|
| 61 |
-
59,159237.014689
|
| 62 |
-
60,159237.027345
|
| 63 |
-
61,159237.045942
|
| 64 |
-
62,159237.061492
|
| 65 |
-
63,159237.081276
|
| 66 |
-
64,159237.094142
|
| 67 |
-
65,159237.11384
|
| 68 |
-
66,159237.127418
|
| 69 |
-
67,159237.147534
|
| 70 |
-
68,159237.162552
|
| 71 |
-
69,159237.180419
|
| 72 |
-
70,159237.194238
|
| 73 |
-
71,159237.214751
|
| 74 |
-
72,159237.227422
|
| 75 |
-
73,159237.245859
|
| 76 |
-
74,159237.260985
|
| 77 |
-
75,159237.281381
|
| 78 |
-
76,159237.294102
|
| 79 |
-
77,159237.313525
|
| 80 |
-
78,159237.327399
|
| 81 |
-
79,159237.346094
|
| 82 |
-
80,159237.3628
|
| 83 |
-
81,159237.379072
|
| 84 |
-
82,159237.394183
|
| 85 |
-
83,159237.414821
|
| 86 |
-
84,159237.427741
|
| 87 |
-
85,159237.446991
|
| 88 |
-
86,159237.462906
|
| 89 |
-
87,159237.481597
|
| 90 |
-
88,159237.494128
|
| 91 |
-
89,159237.51247
|
| 92 |
-
90,159237.527361
|
| 93 |
-
91,159237.546048
|
| 94 |
-
92,159237.561358
|
| 95 |
-
93,159237.580282
|
| 96 |
-
94,159237.594355
|
| 97 |
-
95,159237.614857
|
| 98 |
-
96,159237.627634
|
| 99 |
-
97,159237.646984
|
| 100 |
-
98,159237.660787
|
| 101 |
-
99,159237.681517
|
| 102 |
-
100,159237.694134
|
| 103 |
-
101,159237.713608
|
| 104 |
-
102,159237.727477
|
| 105 |
-
103,159237.747145
|
| 106 |
-
104,159237.761977
|
| 107 |
-
105,159237.780568
|
| 108 |
-
106,159237.794253
|
| 109 |
-
107,159237.813105
|
| 110 |
-
108,159237.827144
|
| 111 |
-
109,159237.845873
|
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multi_sessions_20251119_183701/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:65885fe0bc8e5f6c544b6f097486bd2d9a923272fa28522df4f908fab69f2f5d
|
| 3 |
-
size 4168822
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multi_sessions_20251119_183701/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/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: 159236.037985s
|
| 6 |
-
Vive 第一帧时间戳: 1763548641.922441s
|
| 7 |
-
计算的 offset: -1763389405.884456s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.884456
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:37:32
|
| 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_183701/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_183701/session_003/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1475 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
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159255.208397,87.130269045409
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159255.609428,87.12113147140742
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|
multi_sessions_20251119_183701/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1474 +0,0 @@
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| 1 |
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159255.208397000 87.130269045409
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| 1327 |
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159261.836898000 87.45858778057632
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| 1328 |
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159261.841949000 87.45858778057632
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| 1329 |
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159261.846796000 87.45858778057632
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| 1330 |
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159261.855752000 87.45858778057632
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159261.859485000 87.45858778057632
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| 1332 |
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159261.866800000 87.45858778057632
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159261.872060000 87.45858778057632
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159261.877071000 87.45858778057632
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| 1336 |
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159261.889543000 87.44948449742859
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159261.967011000 87.45858778057632
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159261.997137000 87.44948449742859
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159262.001854000 87.44948449742859
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159262.006850000 87.44948449742859
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159262.011774000 87.44948449742859
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159262.411762000 87.46769010904983
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159262.422459000 87.476791482733
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159262.426765000 87.476791482733
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159262.481791000 87.476791482733
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159262.489774000 87.476791482733
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159262.493458000 87.476791482733
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159262.508748000 87.46769010904983
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159262.512468000 87.476791482733
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159262.526763000 87.476791482733
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159262.541907000 87.46769010904983
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159262.546757000 87.476791482733
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159262.552296000 87.46769010904983
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159262.557037000 87.46769010904983
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159262.561746000 87.476791482733
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159262.567060000 87.476791482733
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159262.571930000 87.476791482733
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multi_sessions_20251119_183701/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: 737
|
| 19 |
-
均值融合 (都低速): 737
|
| 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 18:37:50
|
| 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_183701/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,443 +0,0 @@
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| 1 |
-
frame_index,timestamp
|
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-
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|
multi_sessions_20251119_183701/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:8a381ca2e70d6ab12193719f878f6f9436863dd54bfa961316522c80f74b9d34
|
| 3 |
-
size 3582164
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|
multi_sessions_20251119_183701/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/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: 159255.203979s
|
| 6 |
-
Vive 第一帧时间戳: 1763548661.082486s
|
| 7 |
-
计算的 offset: -1763389405.878507s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.878507
|
| 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 |
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- 坐标已转换到 Gripper 坐标系
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| 14 |
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| 15 |
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生成时间: 2025-11-19 18:37:50
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| 16 |
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设备标签: main
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| 17 |
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XV 序列号: 250801DR48FP25002087
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| 18 |
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_183701/session_003/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_183701/session_004/Clamp_Data/clamp.csv
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| 1437 |
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159283.840694,86.7915467671006
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| 1438 |
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159283.84555,86.80071848092098
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| 1439 |
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159283.852356,86.7915467671006
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| 1440 |
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159283.855545,86.7915467671006
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| 1441 |
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159283.860617,86.7915467671006
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| 1442 |
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159283.868305,86.7915467671006
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| 1443 |
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159283.871833,86.7915467671006
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| 1444 |
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159283.87573,86.7915467671006
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| 1445 |
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159283.880607,86.7915467671006
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| 1446 |
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159283.885642,86.7915467671006
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| 1447 |
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159283.890558,86.7915467671006
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| 1448 |
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159283.895577,86.80071848092098
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| 1449 |
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| 1450 |
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159283.905594,86.7915467671006
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| 1451 |
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159283.910553,86.7915467671006
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| 1452 |
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159283.91609,86.7915467671006
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| 1453 |
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| 1454 |
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159283.925551,86.80071848092098
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| 1455 |
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159283.930889,86.80071848092098
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| 1456 |
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159283.935561,86.80071848092098
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| 1457 |
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159283.94075,86.80071848092098
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| 1458 |
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159283.945542,86.80071848092098
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| 1459 |
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| 1460 |
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| 1461 |
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159283.960532,86.7915467671006
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| 1462 |
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| 1463 |
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159283.971259,86.7915467671006
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| 1464 |
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159283.976045,86.7915467671006
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| 1465 |
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159283.981254,86.7915467671006
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| 1466 |
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159283.985587,86.7915467671006
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| 1467 |
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159283.990553,86.7915467671006
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| 1468 |
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| 1469 |
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| 1470 |
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159284.005955,86.7915467671006
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| 1471 |
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159284.010539,86.7915467671006
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| 1472 |
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| 1473 |
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| 1474 |
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| 1475 |
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| 1476 |
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| 1477 |
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159284.040727,86.7915467671006
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| 1478 |
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| 1479 |
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159284.050602,86.7915467671006
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| 1480 |
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159284.055535,86.80071848092098
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| 1481 |
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159284.06053,86.80071848092098
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| 1482 |
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159284.067856,86.80071848092098
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| 1483 |
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159284.071919,86.80071848092098
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| 1484 |
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159284.075597,86.80071848092098
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| 1485 |
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159284.080538,86.80071848092098
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| 1486 |
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159284.085958,86.80071848092098
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| 1487 |
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159284.090574,86.80071848092098
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| 1488 |
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159284.095538,86.80071848092098
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| 1489 |
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159284.101502,86.80071848092098
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| 1490 |
-
159284.105545,86.80071848092098
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|
multi_sessions_20251119_183701/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1489 +0,0 @@
|
|
| 1 |
-
159276.666438000 87.72216723757813
|
| 2 |
-
159276.670948000 87.72216723757813
|
| 3 |
-
159276.675959000 87.72216723757813
|
| 4 |
-
159276.680950000 87.71309168707114
|
| 5 |
-
159276.686286000 87.71309168707114
|
| 6 |
-
159276.690947000 87.72216723757813
|
| 7 |
-
159276.695961000 87.72216723757813
|
| 8 |
-
159276.703198000 87.72216723757813
|
| 9 |
-
159276.706668000 87.72216723757813
|
| 10 |
-
159276.711028000 87.72216723757813
|
| 11 |
-
159276.715985000 87.72216723757813
|
| 12 |
-
159276.720951000 87.72216723757813
|
| 13 |
-
159276.725959000 87.72216723757813
|
| 14 |
-
159276.731077000 87.72216723757813
|
| 15 |
-
159276.736030000 87.72216723757813
|
| 16 |
-
159276.740954000 87.72216723757813
|
| 17 |
-
159276.745959000 87.72216723757813
|
| 18 |
-
159276.753760000 87.72216723757813
|
| 19 |
-
159276.756672000 87.72216723757813
|
| 20 |
-
159276.761105000 87.72216723757813
|
| 21 |
-
159276.766016000 87.73124183004924
|
| 22 |
-
159276.771108000 87.72216723757813
|
| 23 |
-
159276.776024000 87.72216723757813
|
| 24 |
-
159276.780951000 87.72216723757813
|
| 25 |
-
159276.786859000 87.71309168707114
|
| 26 |
-
159276.790954000 87.71309168707114
|
| 27 |
-
159276.795970000 87.72216723757813
|
| 28 |
-
159276.802149000 87.72216723757813
|
| 29 |
-
159276.806064000 87.72216723757813
|
| 30 |
-
159276.810998000 87.72216723757813
|
| 31 |
-
159276.816065000 87.72216723757813
|
| 32 |
-
159276.820938000 87.72216723757813
|
| 33 |
-
159276.825949000 87.72216723757813
|
| 34 |
-
159276.832085000 87.72216723757813
|
| 35 |
-
159276.836104000 87.72216723757813
|
| 36 |
-
159276.840946000 87.72216723757813
|
| 37 |
-
159276.845950000 87.72216723757813
|
| 38 |
-
159276.854085000 87.72216723757813
|
| 39 |
-
159276.857641000 87.72216723757813
|
| 40 |
-
159276.861283000 87.72216723757813
|
| 41 |
-
159276.867005000 87.72216723757813
|
| 42 |
-
159276.870985000 87.72216723757813
|
| 43 |
-
159276.875950000 87.72216723757813
|
| 44 |
-
159276.880939000 87.72216723757813
|
| 45 |
-
159276.886672000 87.72216723757813
|
| 46 |
-
159276.890970000 87.72216723757813
|
| 47 |
-
159276.895943000 87.72216723757813
|
| 48 |
-
159276.902873000 87.72216723757813
|
| 49 |
-
159276.906668000 87.72216723757813
|
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|
multi_sessions_20251119_183701/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: 744
|
| 19 |
-
均值融合 (都低速): 744
|
| 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 18:38:11
|
| 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_183701/session_004/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/session_004/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/session_004/RGB_Images/timestamps.csv
DELETED
|
@@ -1,448 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159276.652143
|
| 3 |
-
1,159276.67316
|
| 4 |
-
2,159276.685632
|
| 5 |
-
3,159276.70384
|
| 6 |
-
4,159276.71864
|
| 7 |
-
5,159276.738889
|
| 8 |
-
6,159276.751936
|
| 9 |
-
7,159276.770411
|
| 10 |
-
8,159276.785298
|
| 11 |
-
9,159276.804033
|
| 12 |
-
10,159276.818832
|
| 13 |
-
11,159276.83736
|
| 14 |
-
12,159276.852135
|
| 15 |
-
13,159276.870501
|
| 16 |
-
14,159276.885111
|
| 17 |
-
15,159276.903701
|
| 18 |
-
16,159276.919214
|
| 19 |
-
17,159276.937266
|
| 20 |
-
18,159276.953377
|
| 21 |
-
19,159276.971412
|
| 22 |
-
20,159276.985469
|
| 23 |
-
21,159277.004254
|
| 24 |
-
22,159277.018403
|
| 25 |
-
23,159277.038639
|
| 26 |
-
24,159277.052165
|
| 27 |
-
25,159277.070409
|
| 28 |
-
26,159277.085051
|
| 29 |
-
27,159277.103581
|
| 30 |
-
28,159277.119081
|
| 31 |
-
29,159277.137553
|
| 32 |
-
30,159277.152086
|
| 33 |
-
31,159277.170559
|
| 34 |
-
32,159277.185315
|
| 35 |
-
33,159277.206449
|
| 36 |
-
34,159277.218439
|
| 37 |
-
35,159277.238503
|
| 38 |
-
36,159277.252298
|
| 39 |
-
37,159277.270484
|
| 40 |
-
38,159277.285188
|
| 41 |
-
39,159277.303532
|
| 42 |
-
40,159277.320337
|
| 43 |
-
41,159277.337739
|
| 44 |
-
42,159277.351939
|
| 45 |
-
43,159277.370872
|
| 46 |
-
44,159277.385305
|
| 47 |
-
45,159277.404153
|
| 48 |
-
46,159277.418774
|
| 49 |
-
47,159277.438564
|
| 50 |
-
48,159277.451957
|
| 51 |
-
49,159277.470587
|
| 52 |
-
50,159277.485131
|
| 53 |
-
51,159277.503473
|
| 54 |
-
52,159277.520213
|
| 55 |
-
53,159277.537529
|
| 56 |
-
54,159277.551922
|
| 57 |
-
55,159277.570769
|
| 58 |
-
56,159277.585194
|
| 59 |
-
57,159277.604114
|
| 60 |
-
58,159277.618825
|
| 61 |
-
59,159277.638494
|
| 62 |
-
60,159277.65184
|
| 63 |
-
61,159277.670865
|
| 64 |
-
62,159277.685208
|
| 65 |
-
63,159277.703551
|
| 66 |
-
64,159277.720087
|
| 67 |
-
65,159277.738396
|
| 68 |
-
66,159277.751855
|
| 69 |
-
67,159277.772977
|
| 70 |
-
68,159277.78536
|
| 71 |
-
69,159277.806239
|
| 72 |
-
70,159277.818946
|
| 73 |
-
71,159277.838532
|
| 74 |
-
72,159277.85163
|
| 75 |
-
73,159277.870089
|
| 76 |
-
74,159277.885005
|
| 77 |
-
75,159277.903539
|
| 78 |
-
76,159277.92005
|
| 79 |
-
77,159277.938455
|
| 80 |
-
78,159277.951854
|
| 81 |
-
79,159277.97029
|
| 82 |
-
80,159277.984879
|
| 83 |
-
81,159278.003462
|
| 84 |
-
82,159278.01829
|
| 85 |
-
83,159278.037135
|
| 86 |
-
84,159278.051712
|
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multi_sessions_20251119_183701/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:1585502141a1fc572eafcb499c2a6d9962103ad51e7d802776a0aa10f7395328
|
| 3 |
-
size 3634508
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|
multi_sessions_20251119_183701/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/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: 159276.663979s
|
| 6 |
-
Vive 第一帧时间戳: 1763548682.542490s
|
| 7 |
-
计算的 offset: -1763389405.878511s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.878511
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:38:11
|
| 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_183701/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_183701/session_005/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1271 +0,0 @@
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| 1 |
-
timestamp,clamp
|
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|
multi_sessions_20251119_183701/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1270 +0,0 @@
|
|
| 1 |
-
159293.746236000 87.50408987387988
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| 2 |
-
159293.750206000 87.49499136526408
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| 3 |
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159293.755009000 87.49499136526408
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159293.770682000 87.50408987387988
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159293.785783000 87.49499136526408
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159293.799988000 87.49499136526408
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159293.833254000 87.49499136526408
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159293.836691000 87.49499136526408
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159293.840045000 87.49499136526408
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| 21 |
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159293.845003000 87.50408987387988
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159293.850029000 87.49499136526408
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159293.855031000 87.49499136526408
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159293.867002000 87.50408987387988
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159293.870681000 87.49499136526408
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| 27 |
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159293.875234000 87.49499136526408
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159293.894988000 87.50408987387988
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159293.901591000 87.49499136526408
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159293.915131000 87.49499136526408
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159293.919985000 87.50408987387988
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159293.925002000 87.50408987387988
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159293.939981000 87.50408987387988
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159293.950021000 87.50408987387988
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159293.954974000 87.49499136526408
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159293.959975000 87.49499136526408
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159293.966973000 87.49499136526408
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159293.970670000 87.49499136526408
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159293.974980000 87.49499136526408
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159293.981610000 87.49499136526408
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| 49 |
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159293.985037000 87.49499136526408
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159293.989970000 87.49499136526408
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| 51 |
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159293.994980000 87.49499136526408
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| 52 |
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159293.999974000 87.50408987387988
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| 53 |
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159294.004980000 87.50408987387988
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| 54 |
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159294.011045000 87.50408987387988
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| 55 |
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159294.015510000 87.49499136526408
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| 56 |
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159294.019974000 87.49499136526408
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159294.025032000 87.49499136526408
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159294.031646000 87.49499136526408
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| 59 |
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159294.034977000 87.50408987387988
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| 60 |
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159294.040044000 87.50408987387988
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| 61 |
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159294.045080000 87.50408987387988
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| 62 |
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159294.049984000 87.50408987387988
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| 63 |
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| 64 |
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159294.059971000 87.49499136526408
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159294.067338000 87.49499136526408
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159294.070670000 87.49499136526408
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| 67 |
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159294.074980000 87.49499136526408
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| 68 |
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159294.082228000 87.49499136526408
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159294.085694000 87.50408987387988
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159294.090457000 87.50408987387988
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| 71 |
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159294.094979000 87.50408987387988
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159294.099987000 87.50408987387988
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159294.105044000 87.50408987387988
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| 74 |
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159294.111216000 87.49499136526408
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| 75 |
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159294.115057000 87.49499136526408
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159294.119974000 87.49499136526408
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| 77 |
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159294.124983000 87.49499136526408
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159294.130545000 87.49499136526408
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| 79 |
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159294.135336000 87.49499136526408
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| 80 |
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159294.139993000 87.50408987387988
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| 81 |
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159294.146272000 87.50408987387988
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159294.150268000 87.49499136526408
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159294.154974000 87.50408987387988
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| 84 |
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159294.159971000 87.49499136526408
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| 85 |
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159294.165107000 87.50408987387988
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159294.170175000 87.49499136526408
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| 87 |
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159294.174977000 87.50408987387988
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159294.180224000 87.50408987387988
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| 89 |
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159294.185181000 87.50408987387988
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159294.189969000 87.49499136526408
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159294.194975000 87.49499136526408
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159294.199973000 87.49499136526408
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| 93 |
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159294.205792000 87.49499136526408
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159294.209977000 87.49499136526408
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159294.214988000 87.49499136526408
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159294.220009000 87.49499136526408
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159294.239978000 87.50408987387988
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159294.274978000 87.50408987387988
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159294.290516000 87.49499136526408
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159294.294984000 87.49499136526408
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159294.304995000 87.49499136526408
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159294.355643000 87.49499136526408
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159294.419995000 87.49499136526408
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159294.425011000 87.49499136526408
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159294.433155000 87.49499136526408
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159294.436649000 87.49499136526408
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159294.444970000 87.50408987387988
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159299.115288000 87.43127506757487
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| 1076 |
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159299.119706000 87.43127506757487
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| 1077 |
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159299.125080000 87.42216892110109
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| 1078 |
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159299.129880000 87.42216892110109
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| 1079 |
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159299.134937000 87.42216892110109
|
| 1080 |
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159299.139721000 87.43127506757487
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| 1081 |
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159299.145346000 87.43127506757487
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159299.150239000 87.43127506757487
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159299.219786000 87.43127506757487
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159299.224852000 87.42216892110109
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159299.229827000 87.43127506757487
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159299.234990000 87.43127506757487
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| 1100 |
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159299.239716000 87.43127506757487
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159299.245632000 87.43127506757487
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159299.249702000 87.43127506757487
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159299.254741000 87.43127506757487
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159299.265433000 87.43127506757487
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159299.269720000 87.43127506757487
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159299.275681000 87.43127506757487
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159299.279768000 87.43127506757487
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159299.284727000 87.43127506757487
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159299.290081000 87.43127506757487
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| 1111 |
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159299.294708000 87.43127506757487
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159299.300374000 87.42216892110109
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159299.304713000 87.43127506757487
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159299.309706000 87.43127506757487
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159299.315271000 87.43127506757487
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159299.319703000 87.43127506757487
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159299.324838000 87.43127506757487
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159299.329836000 87.42216892110109
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| 1119 |
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159299.334730000 87.43127506757487
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159299.339840000 87.43127506757487
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159299.344719000 87.43127506757487
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159299.349760000 87.43127506757487
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159299.354703000 87.43127506757487
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159299.359703000 87.43127506757487
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159299.364828000 87.43127506757487
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159299.369709000 87.43127506757487
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159299.374703000 87.43127506757487
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159299.379744000 87.43127506757487
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159299.384712000 87.43127506757487
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159299.389702000 87.44038025972274
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159299.394797000 87.43127506757487
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159299.399771000 87.44038025972274
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159299.404720000 87.43127506757487
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159299.474734000 87.44038025972274
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159299.480775000 87.44038025972274
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159299.535036000 87.43127506757487
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159299.560340000 87.43127506757487
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159299.564691000 87.43127506757487
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159299.574689000 87.43127506757487
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159299.630086000 87.44038025972274
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159299.635166000 87.44038025972274
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159299.647934000 87.44038025972274
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159299.730592000 87.44948449742859
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159299.735160000 87.44948449742859
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159299.750362000 87.45858778057632
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159299.754664000 87.45858778057632
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159299.854646000 87.46769010904983
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159299.874649000 87.46769010904983
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159299.879887000 87.46769010904983
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159299.884653000 87.46769010904983
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159299.889642000 87.46769010904983
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159299.894846000 87.45858778057632
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159299.899660000 87.46769010904983
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159299.904733000 87.46769010904983
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159299.910483000 87.46769010904983
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159299.914871000 87.46769010904983
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159299.919699000 87.46769010904983
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159299.960140000 87.46769010904983
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159299.970346000 87.46769010904983
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159299.974651000 87.46769010904983
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159299.981192000 87.46769010904983
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159299.984716000 87.46769010904983
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159299.989783000 87.46769010904983
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159299.995049000 87.46769010904983
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159299.999662000 87.46769010904983
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159300.004661000 87.46769010904983
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159300.013398000 87.46769010904983
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159300.016341000 87.46769010904983
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159300.019962000 87.46769010904983
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159300.024668000 87.46769010904983
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159300.034635000 87.46769010904983
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159300.039641000 87.46769010904983
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159300.046026000 87.46769010904983
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159300.049640000 87.46769010904983
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159300.059634000 87.46769010904983
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159300.065249000 87.46769010904983
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159300.069636000 87.46769010904983
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159300.074636000 87.46769010904983
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159300.080364000 87.46769010904983
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159300.084643000 87.46769010904983
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159300.090086000 87.46769010904983
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multi_sessions_20251119_183701/session_005/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 634
|
| 19 |
-
均值融合 (都低速): 634
|
| 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 18:38:27
|
| 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_183701/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
@@ -1,635 +0,0 @@
|
|
| 1 |
-
timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W
|
| 2 |
-
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| 5 |
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| 610 |
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159299.8260025978,0.0699371296901771,-0.0577896376267108,0.0211553483926489,0.0873367901369669,0.1536487423234187,-0.0606277141433728,0.9823892453344308
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| 617 |
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| 619 |
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| 620 |
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| 621 |
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| 622 |
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| 623 |
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| 624 |
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| 625 |
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| 626 |
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| 627 |
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| 628 |
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| 629 |
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| 630 |
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| 631 |
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| 632 |
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| 633 |
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| 634 |
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| 635 |
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|
multi_sessions_20251119_183701/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183701/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,383 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159293.73733
|
| 3 |
-
1,159293.748743
|
| 4 |
-
2,159293.767897
|
| 5 |
-
3,159293.781753
|
| 6 |
-
4,159293.800545
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| 7 |
-
5,159293.816529
|
| 8 |
-
6,159293.834967
|
| 9 |
-
7,159293.848808
|
| 10 |
-
8,159293.867602
|
| 11 |
-
9,159293.881504
|
| 12 |
-
10,159293.902927
|
| 13 |
-
11,159293.916473
|
| 14 |
-
12,159293.936838
|
| 15 |
-
13,159293.948554
|
| 16 |
-
14,159293.967968
|
| 17 |
-
15,159293.981805
|
| 18 |
-
16,159294.000467
|
| 19 |
-
17,159294.015045
|
| 20 |
-
18,159294.033439
|
| 21 |
-
19,159294.051332
|
| 22 |
-
20,159294.068428
|
| 23 |
-
21,159294.081585
|
| 24 |
-
22,159294.100468
|
| 25 |
-
23,159294.116465
|
| 26 |
-
24,159294.136899
|
| 27 |
-
25,159294.148799
|
| 28 |
-
26,159294.169292
|
| 29 |
-
27,159294.183128
|
| 30 |
-
28,159294.202372
|
| 31 |
-
29,159294.218549
|
| 32 |
-
30,159294.235159
|
| 33 |
-
31,159294.248895
|
| 34 |
-
32,159294.269335
|
| 35 |
-
33,159294.281587
|
| 36 |
-
34,159294.301154
|
| 37 |
-
35,159294.316711
|
| 38 |
-
36,159294.334797
|
| 39 |
-
37,159294.348604
|
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multi_sessions_20251119_183701/session_005/RGB_Images/video.mp4
DELETED
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@@ -1,3 +0,0 @@
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| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:eb7dfe7c5065350ef79c4b309b8d182ed53f5b5e4997b547c44247ce598bb273
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| 3 |
-
size 3229048
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multi_sessions_20251119_183701/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
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multi_sessions_20251119_183701/session_005/Vive_Poses/offset_info.txt
DELETED
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@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 159293.745977s
|
| 6 |
-
Vive 第一帧时间戳: 1763548699.632467s
|
| 7 |
-
计算的 offset: -1763389405.886490s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.886490
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:38:27
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
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