Delete multi_sessions_20251119_183159
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- multi_sessions_20251119_183159/collection_summary.txt +0 -93
- multi_sessions_20251119_183159/session_001/Clamp_Data/clamp.csv +0 -1586
- multi_sessions_20251119_183159/session_001/Clamp_Data/clamp_data_tum.txt +0 -1585
- multi_sessions_20251119_183159/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183159/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183159/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183159/session_001/RGB_Images/timestamps.csv +0 -477
- multi_sessions_20251119_183159/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183159/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183159/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183159/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183159/session_002/Clamp_Data/clamp.csv +0 -1570
- multi_sessions_20251119_183159/session_002/Clamp_Data/clamp_data_tum.txt +0 -1569
- multi_sessions_20251119_183159/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183159/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183159/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183159/session_002/RGB_Images/timestamps.csv +0 -472
- multi_sessions_20251119_183159/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183159/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183159/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183159/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183159/session_003/Clamp_Data/clamp.csv +0 -1496
- multi_sessions_20251119_183159/session_003/Clamp_Data/clamp_data_tum.txt +0 -1495
- multi_sessions_20251119_183159/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183159/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183159/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183159/session_003/RGB_Images/timestamps.csv +0 -449
- multi_sessions_20251119_183159/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183159/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183159/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183159/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183159/session_004/Clamp_Data/clamp.csv +0 -1790
- multi_sessions_20251119_183159/session_004/Clamp_Data/clamp_data_tum.txt +0 -1789
- multi_sessions_20251119_183159/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183159/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183159/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183159/session_004/RGB_Images/timestamps.csv +0 -539
- multi_sessions_20251119_183159/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183159/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183159/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183159/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183159/session_005/Clamp_Data/clamp.csv +0 -1575
- multi_sessions_20251119_183159/session_005/Clamp_Data/clamp_data_tum.txt +0 -1574
- multi_sessions_20251119_183159/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183159/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183159/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183159/session_005/RGB_Images/timestamps.csv +0 -474
- multi_sessions_20251119_183159/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183159/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183159/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_183159/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 18:32:00 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_183159
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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 18:32:00 CST
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输出目录: ./multi_sessions_20251119_183159/session_001
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结束时间: 2025年 11月 19日 星期三 18:32:18 CST
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持续时间: 18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_183159/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 18:32:22 CST
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输出目录: ./multi_sessions_20251119_183159/session_002
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结束时间: 2025年 11月 19日 星期三 18:32:37 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_183159/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 18:32:40 CST
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输出目录: ./multi_sessions_20251119_183159/session_003
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结束时间: 2025年 11月 19日 星期三 18:32:54 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_183159/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 18:32:58 CST
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输出目录: ./multi_sessions_20251119_183159/session_004
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结束时间: 2025年 11月 19日 星期三 18:33:14 CST
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持续时间: 16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_183159/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 18:33:27 CST
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输出目录: ./multi_sessions_20251119_183159/session_005
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结束时间: 2025年 11月 19日 星期三 18:33:50 CST
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持续时间: 23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_183159/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 18:33:50 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_183159/
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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_183159/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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-
158927.315547,86.80988924845751
|
| 1523 |
-
158927.319259,86.81905906959325
|
| 1524 |
-
158927.324257,86.81905906959325
|
| 1525 |
-
158927.329287,86.81905906959325
|
| 1526 |
-
158927.334848,86.81905906959325
|
| 1527 |
-
158927.339252,86.81905906959325
|
| 1528 |
-
158927.344229,86.81905906959325
|
| 1529 |
-
158927.349759,86.81905906959325
|
| 1530 |
-
158927.354242,86.80988924845751
|
| 1531 |
-
158927.359375,86.80988924845751
|
| 1532 |
-
158927.366557,86.81905906959325
|
| 1533 |
-
158927.370045,86.81905906959325
|
| 1534 |
-
158927.375194,86.81905906959325
|
| 1535 |
-
158927.379258,86.81905906959325
|
| 1536 |
-
158927.384276,86.81905906959325
|
| 1537 |
-
158927.389253,86.81905906959325
|
| 1538 |
-
158927.395283,86.81905906959325
|
| 1539 |
-
158927.399833,86.81905906959325
|
| 1540 |
-
158927.404231,86.81905906959325
|
| 1541 |
-
158927.409242,86.81905906959325
|
| 1542 |
-
158927.414376,86.81905906959325
|
| 1543 |
-
158927.419245,86.81905906959325
|
| 1544 |
-
158927.424235,86.80988924845751
|
| 1545 |
-
158927.429974,86.81905906959325
|
| 1546 |
-
158927.434695,86.81905906959325
|
| 1547 |
-
158927.439236,86.81905906959325
|
| 1548 |
-
158927.444228,86.81905906959325
|
| 1549 |
-
158927.450196,86.81905906959325
|
| 1550 |
-
158927.454244,86.81905906959325
|
| 1551 |
-
158927.459381,86.81905906959325
|
| 1552 |
-
158927.46625,86.81905906959325
|
| 1553 |
-
158927.470314,86.82822794421122
|
| 1554 |
-
158927.47484,86.82822794421122
|
| 1555 |
-
158927.479239,86.81905906959325
|
| 1556 |
-
158927.484235,86.81905906959325
|
| 1557 |
-
158927.489245,86.80988924845751
|
| 1558 |
-
158927.495033,86.81905906959325
|
| 1559 |
-
158927.49929,86.81905906959325
|
| 1560 |
-
158927.504233,86.81905906959325
|
| 1561 |
-
158927.509451,86.81905906959325
|
| 1562 |
-
158927.514837,86.81905906959325
|
| 1563 |
-
158927.51924,86.81905906959325
|
| 1564 |
-
158927.524239,86.81905906959325
|
| 1565 |
-
158927.531651,86.81905906959325
|
| 1566 |
-
158927.535035,86.81905906959325
|
| 1567 |
-
158927.539235,86.80988924845751
|
| 1568 |
-
158927.54423,86.80988924845751
|
| 1569 |
-
158927.549734,86.81905906959325
|
| 1570 |
-
158927.554264,86.81905906959325
|
| 1571 |
-
158927.559243,86.82822794421122
|
| 1572 |
-
158927.566996,86.81905906959325
|
| 1573 |
-
158927.570039,86.81905906959325
|
| 1574 |
-
158927.574219,86.81905906959325
|
| 1575 |
-
158927.579231,86.81905906959325
|
| 1576 |
-
158927.584281,86.81905906959325
|
| 1577 |
-
158927.589233,86.81905906959325
|
| 1578 |
-
158927.595431,86.81905906959325
|
| 1579 |
-
158927.599272,86.81905906959325
|
| 1580 |
-
158927.604222,86.81905906959325
|
| 1581 |
-
158927.609233,86.81905906959325
|
| 1582 |
-
158927.614506,86.81905906959325
|
| 1583 |
-
158927.619238,86.81905906959325
|
| 1584 |
-
158927.624227,86.81905906959325
|
| 1585 |
-
158927.629268,86.81905906959325
|
| 1586 |
-
158927.63468,86.81905906959325
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multi_sessions_20251119_183159/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1585 +0,0 @@
|
|
| 1 |
-
158919.718741000 87.62228351549781
|
| 2 |
-
158919.721668000 87.61319743423809
|
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158925.359655000 43.26468156466723
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158925.370060000 46.05718579008633
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158925.384843000 52.35837400425111
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multi_sessions_20251119_183159/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: 791
|
| 19 |
-
均值融合 (都低速): 791
|
| 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 18:32:15
|
| 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_183159/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183159/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183159/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,477 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158919.703164
|
| 3 |
-
1,158919.719028
|
| 4 |
-
2,158919.737845
|
| 5 |
-
3,158919.752253
|
| 6 |
-
4,158919.76837
|
| 7 |
-
5,158919.785265
|
| 8 |
-
6,158919.803788
|
| 9 |
-
7,158919.818576
|
| 10 |
-
8,158919.837185
|
| 11 |
-
9,158919.852393
|
| 12 |
-
10,158919.868524
|
| 13 |
-
11,158919.884998
|
| 14 |
-
12,158919.903278
|
| 15 |
-
13,158919.918981
|
| 16 |
-
14,158919.937693
|
| 17 |
-
15,158919.951998
|
| 18 |
-
16,158919.968172
|
| 19 |
-
17,158919.985258
|
| 20 |
-
18,158920.003643
|
| 21 |
-
19,158920.018798
|
| 22 |
-
20,158920.03789
|
| 23 |
-
21,158920.052456
|
| 24 |
-
22,158920.068521
|
| 25 |
-
23,158920.085016
|
| 26 |
-
24,158920.103228
|
| 27 |
-
25,158920.118992
|
| 28 |
-
26,158920.137487
|
| 29 |
-
27,158920.151767
|
| 30 |
-
28,158920.168073
|
| 31 |
-
29,158920.184706
|
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-
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|
| 33 |
-
31,158920.218704
|
| 34 |
-
32,158920.23723
|
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-
33,158920.25209
|
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-
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|
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-
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|
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-
36,158920.303256
|
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-
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|
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|
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-
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|
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-
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|
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|
| 44 |
-
42,158920.403342
|
| 45 |
-
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|
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-
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|
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-
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|
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|
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|
| 50 |
-
48,158920.503151
|
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-
49,158920.518928
|
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-
50,158920.537472
|
| 53 |
-
51,158920.552169
|
| 54 |
-
52,158920.56821
|
| 55 |
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53,158920.58469
|
| 56 |
-
54,158920.603413
|
| 57 |
-
55,158920.618886
|
| 58 |
-
56,158920.637177
|
| 59 |
-
57,158920.651606
|
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58,158920.668251
|
| 61 |
-
59,158920.684896
|
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60,158920.703182
|
| 63 |
-
61,158920.718867
|
| 64 |
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62,158920.737343
|
| 65 |
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63,158920.752172
|
| 66 |
-
64,158920.768134
|
| 67 |
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65,158920.784692
|
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-
66,158920.802808
|
| 69 |
-
67,158920.818465
|
| 70 |
-
68,158920.837056
|
| 71 |
-
69,158920.85154
|
| 72 |
-
70,158920.867782
|
| 73 |
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71,158920.884724
|
| 74 |
-
72,158920.903162
|
| 75 |
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73,158920.918418
|
| 76 |
-
74,158920.937315
|
| 77 |
-
75,158920.952183
|
| 78 |
-
76,158920.968055
|
| 79 |
-
77,158920.984636
|
| 80 |
-
78,158921.002973
|
| 81 |
-
79,158921.018342
|
| 82 |
-
80,158921.036848
|
| 83 |
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81,158921.051526
|
| 84 |
-
82,158921.070853
|
| 85 |
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83,158921.084783
|
| 86 |
-
84,158921.103201
|
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85,158921.118404
|
| 88 |
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86,158921.137373
|
| 89 |
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87,158921.152139
|
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88,158921.168186
|
| 91 |
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89,158921.184433
|
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90,158921.202832
|
| 93 |
-
91,158921.218281
|
| 94 |
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92,158921.236762
|
| 95 |
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93,158921.251561
|
| 96 |
-
94,158921.270209
|
| 97 |
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95,158921.285033
|
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-
96,158921.301693
|
| 99 |
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97,158921.318033
|
| 100 |
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98,158921.336734
|
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99,158921.35186
|
| 102 |
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100,158921.36786
|
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101,158921.384369
|
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102,158921.402723
|
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103,158921.418346
|
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104,158921.436851
|
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|
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107,158921.484281
|
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108,158921.501332
|
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109,158921.518182
|
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110,158921.53643
|
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111,158921.551757
|
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112,158921.56783
|
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113,158921.584411
|
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114,158921.602805
|
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115,158921.618649
|
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116,158921.637293
|
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117,158921.650805
|
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118,158921.668063
|
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119,158921.684389
|
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120,158921.703204
|
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121,158921.718384
|
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122,158921.736878
|
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123,158921.751417
|
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124,158921.7705
|
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125,158921.784399
|
| 128 |
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126,158921.802777
|
| 129 |
-
127,158921.817419
|
| 130 |
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128,158921.837043
|
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-
129,158921.851816
|
| 132 |
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130,158921.867906
|
| 133 |
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131,158921.884393
|
| 134 |
-
132,158921.9031
|
| 135 |
-
133,158921.918244
|
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134,158921.935839
|
| 137 |
-
135,158921.95149
|
| 138 |
-
136,158921.968054
|
| 139 |
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137,158921.984607
|
| 140 |
-
138,158922.001187
|
| 141 |
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139,158922.018622
|
| 142 |
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140,158922.035967
|
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141,158922.051379
|
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142,158922.067724
|
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143,158922.084335
|
| 146 |
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144,158922.103092
|
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145,158922.118294
|
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146,158922.135775
|
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147,158922.151232
|
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148,158922.167762
|
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149,158922.184518
|
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150,158922.201143
|
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151,158922.218065
|
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152,158922.235631
|
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|
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|
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155,158922.284331
|
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|
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|
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|
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|
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160,158922.36758
|
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|
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162,158922.4025
|
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163,158922.417273
|
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|
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|
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166,158922.46753
|
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167,158922.484322
|
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168,158922.502073
|
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169,158922.518396
|
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170,158922.534079
|
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171,158922.551272
|
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multi_sessions_20251119_183159/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:fac372e178dd0825aa5feff2e6c2606f50678145f7a6a10d33fa1064c966ff43
|
| 3 |
-
size 3753865
|
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|
multi_sessions_20251119_183159/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183159/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: 158919.717980s
|
| 6 |
-
Vive 第一帧时间戳: 1763548325.602395s
|
| 7 |
-
计算的 offset: -1763389405.884415s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.884415
|
| 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 18:32:15
|
| 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_183159/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_183159/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1570 +0,0 @@
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timestamp,clamp
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158946.382765,87.3857347942701
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| 1563 |
-
158946.387771,87.3857347942701
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| 1564 |
-
158946.393051,87.3857347942701
|
| 1565 |
-
158946.397767,87.3857347942701
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| 1566 |
-
158946.402957,87.3857347942701
|
| 1567 |
-
158946.408103,87.3857347942701
|
| 1568 |
-
158946.412823,87.3857347942701
|
| 1569 |
-
158946.417832,87.3857347942701
|
| 1570 |
-
158946.422762,87.3857347942701
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|
multi_sessions_20251119_183159/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1569 +0,0 @@
|
|
| 1 |
-
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|
| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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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 |
-
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| 16 |
-
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|
| 17 |
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|
| 18 |
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|
| 19 |
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158938.673326000 87.71309168707114
|
| 20 |
-
158938.678420000 87.71309168707114
|
| 21 |
-
158938.683336000 87.71309168707114
|
| 22 |
-
158938.688337000 87.71309168707114
|
| 23 |
-
158938.693435000 87.70401517864401
|
| 24 |
-
158938.698904000 87.70401517864401
|
| 25 |
-
158938.703783000 87.70401517864401
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| 26 |
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158938.708496000 87.71309168707114
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| 27 |
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158938.713844000 87.71309168707114
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| 28 |
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158938.718336000 87.71309168707114
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| 29 |
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158938.723332000 87.71309168707114
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| 30 |
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158938.731322000 87.71309168707114
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| 31 |
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158938.735174000 87.71309168707114
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| 32 |
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158938.738389000 87.71309168707114
|
| 33 |
-
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| 34 |
-
158938.750221000 87.71309168707114
|
| 35 |
-
158938.753388000 87.71309168707114
|
| 36 |
-
158938.758358000 87.71309168707114
|
| 37 |
-
158938.764071000 87.71309168707114
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| 38 |
-
158938.768376000 87.71309168707114
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| 39 |
-
158938.773326000 87.71309168707114
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| 40 |
-
158938.778410000 87.71309168707114
|
| 41 |
-
158938.783317000 87.71309168707114
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| 42 |
-
158938.788323000 87.71309168707114
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| 43 |
-
158938.793314000 87.71309168707114
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| 44 |
-
158938.798360000 87.71309168707114
|
| 45 |
-
158938.803313000 87.71309168707114
|
| 46 |
-
158938.808324000 87.70401517864401
|
| 47 |
-
158938.814328000 87.71309168707114
|
| 48 |
-
158938.818320000 87.71309168707114
|
| 49 |
-
158938.823347000 87.71309168707114
|
| 50 |
-
158938.831264000 87.71309168707114
|
| 51 |
-
158938.834110000 87.71309168707114
|
| 52 |
-
158938.838607000 87.70401517864401
|
| 53 |
-
158938.843518000 87.70401517864401
|
| 54 |
-
158938.848556000 87.70401517864401
|
| 55 |
-
158938.853340000 87.71309168707114
|
| 56 |
-
158938.858510000 87.71309168707114
|
| 57 |
-
158938.864883000 87.70401517864401
|
| 58 |
-
158938.868321000 87.70401517864401
|
| 59 |
-
158938.873310000 87.70401517864401
|
| 60 |
-
158938.878365000 87.70401517864401
|
| 61 |
-
158938.883323000 87.70401517864401
|
| 62 |
-
158938.888329000 87.71309168707114
|
| 63 |
-
158938.893365000 87.71309168707114
|
| 64 |
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158938.898783000 87.71309168707114
|
| 65 |
-
158938.903312000 87.71309168707114
|
| 66 |
-
158938.908555000 87.71309168707114
|
| 67 |
-
158938.913341000 87.71309168707114
|
| 68 |
-
158938.918318000 87.71309168707114
|
| 69 |
-
158938.923319000 87.71309168707114
|
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158944.567930000 87.42216892110109
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158945.952795000 87.3857347942701
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| 1476 |
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158945.957811000 87.3857347942701
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| 1477 |
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158945.963334000 87.3857347942701
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| 1478 |
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158945.967795000 87.37662387790921
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| 1479 |
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158945.972785000 87.37662387790921
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| 1480 |
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158945.978126000 87.37662387790921
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| 1481 |
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158945.982800000 87.3857347942701
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| 1482 |
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158945.987801000 87.3857347942701
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| 1483 |
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158945.993033000 87.3857347942701
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| 1484 |
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158945.997788000 87.3857347942701
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| 1485 |
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158946.002790000 87.3857347942701
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158946.008148000 87.3857347942701
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158946.013258000 87.3857347942701
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158946.017806000 87.3857347942701
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158946.022789000 87.3857347942701
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| 1490 |
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158946.028932000 87.3857347942701
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| 1491 |
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158946.032792000 87.3857347942701
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158946.038190000 87.3857347942701
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158946.043337000 87.3857347942701
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158946.048234000 87.3857347942701
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| 1495 |
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158946.052810000 87.3857347942701
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158946.057793000 87.3857347942701
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| 1497 |
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158946.063138000 87.37662387790921
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| 1498 |
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158946.067800000 87.37662387790921
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| 1499 |
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158946.073185000 87.3857347942701
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| 1500 |
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158946.077819000 87.3857347942701
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| 1501 |
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158946.082800000 87.3857347942701
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158946.087827000 87.3857347942701
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| 1503 |
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158946.093933000 87.3857347942701
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158946.097794000 87.3857347942701
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158946.102788000 87.37662387790921
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158946.107779000 87.37662387790921
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| 1507 |
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158946.112892000 87.37662387790921
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| 1508 |
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158946.117775000 87.37662387790921
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| 1509 |
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158946.122826000 87.37662387790921
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| 1510 |
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158946.129866000 87.37662387790921
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| 1511 |
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158946.133572000 87.37662387790921
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158946.137917000 87.37662387790921
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| 1513 |
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158946.145209000 87.3857347942701
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| 1514 |
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158946.148586000 87.37662387790921
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158946.152773000 87.37662387790921
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158946.157771000 87.37662387790921
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158946.163228000 87.37662387790921
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158946.167879000 87.37662387790921
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158946.174078000 87.37662387790921
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| 1520 |
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158946.177819000 87.37662387790921
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| 1521 |
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158946.182781000 87.37662387790921
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158946.187782000 87.3857347942701
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| 1523 |
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158946.192933000 87.3857347942701
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| 1524 |
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158946.197955000 87.3857347942701
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158946.203040000 87.3857347942701
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158946.207938000 87.3857347942701
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| 1527 |
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158946.212797000 87.3857347942701
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| 1528 |
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158946.217858000 87.3857347942701
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158946.222775000 87.3857347942701
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158946.228926000 87.3857347942701
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158946.232798000 87.3857347942701
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158946.238208000 87.3857347942701
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| 1533 |
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158946.243546000 87.37662387790921
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| 1534 |
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158946.248091000 87.37662387790921
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| 1535 |
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158946.252772000 87.37662387790921
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158946.257791000 87.37662387790921
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| 1537 |
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158946.263222000 87.3857347942701
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| 1538 |
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158946.267781000 87.3857347942701
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158946.272767000 87.3857347942701
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| 1540 |
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158946.277821000 87.3857347942701
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158946.282781000 87.3857347942701
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| 1542 |
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158946.287800000 87.3857347942701
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| 1543 |
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158946.293626000 87.3857347942701
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| 1544 |
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158946.297773000 87.3857347942701
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| 1545 |
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158946.302771000 87.3857347942701
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| 1546 |
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158946.307861000 87.3857347942701
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| 1547 |
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158946.312971000 87.3857347942701
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| 1548 |
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158946.317803000 87.3857347942701
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| 1549 |
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158946.322805000 87.3857347942701
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| 1550 |
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158946.328492000 87.3857347942701
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| 1551 |
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158946.332762000 87.3857347942701
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| 1552 |
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158946.338032000 87.3857347942701
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| 1553 |
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158946.345300000 87.3857347942701
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| 1554 |
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158946.348564000 87.3857347942701
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| 1555 |
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158946.352760000 87.3857347942701
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158946.357823000 87.3857347942701
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158946.363245000 87.3857347942701
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| 1558 |
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158946.367767000 87.3857347942701
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| 1559 |
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158946.372752000 87.3857347942701
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| 1560 |
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158946.377902000 87.3857347942701
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| 1561 |
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158946.382765000 87.3857347942701
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| 1562 |
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158946.387771000 87.3857347942701
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| 1563 |
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158946.393051000 87.3857347942701
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| 1564 |
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158946.397767000 87.3857347942701
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| 1565 |
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158946.402957000 87.3857347942701
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| 1566 |
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158946.408103000 87.3857347942701
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| 1567 |
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158946.412823000 87.3857347942701
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| 1568 |
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158946.417832000 87.3857347942701
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| 1569 |
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158946.422762000 87.3857347942701
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multi_sessions_20251119_183159/session_002/Merged_Trajectory/merge_stats.txt
DELETED
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@@ -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: 784
|
| 19 |
-
均值融合 (都低速): 784
|
| 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 18:32:34
|
| 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_183159/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_183159/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_183159/session_002/RGB_Images/timestamps.csv
DELETED
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| 1 |
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frame_index,timestamp
|
| 2 |
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0,158938.580049
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multi_sessions_20251119_183159/session_002/RGB_Images/video.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:cbef41dd5361a6ba3efc2fcc60717542a1ad1f72820138bf4ea33e3265629205
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size 3739767
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multi_sessions_20251119_183159/session_002/SLAM_Poses/slam_raw.txt
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multi_sessions_20251119_183159/session_002/Vive_Poses/offset_info.txt
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|
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| 1 |
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Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
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| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 158938.583978s
|
| 6 |
-
Vive 第一帧时间戳: 1763548344.462485s
|
| 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
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:32:34
|
| 16 |
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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_183159/session_002/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_183159/session_003/Clamp_Data/clamp.csv
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158963.209047,86.98395388223243
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| 1399 |
-
158963.212352,86.98395388223243
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| 1400 |
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158963.217149,86.98395388223243
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| 1401 |
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158963.223415,86.98395388223243
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| 1402 |
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158963.227253,86.98395388223243
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| 1403 |
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158963.23145,86.98395388223243
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| 1404 |
-
158963.236459,86.98395388223243
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| 1405 |
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158963.241627,86.98395388223243
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| 1406 |
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158963.246464,86.98395388223243
|
| 1407 |
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158963.251458,86.98395388223243
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| 1408 |
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158963.256599,86.98395388223243
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| 1409 |
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158963.261454,86.98395388223243
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| 1410 |
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158963.266469,86.98395388223243
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| 1411 |
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158963.273186,86.98395388223243
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| 1412 |
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158963.27662,86.97480111629817
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| 1413 |
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158963.281821,86.98395388223243
|
| 1414 |
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158963.287055,86.98395388223243
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| 1415 |
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158963.29153,86.97480111629817
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158963.29649,86.98395388223243
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| 1417 |
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158963.301486,86.97480111629817
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| 1418 |
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158963.308864,86.98395388223243
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| 1419 |
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158963.312253,86.97480111629817
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| 1420 |
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158963.316717,86.98395388223243
|
| 1421 |
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158963.321811,86.97480111629817
|
| 1422 |
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158963.327518,86.97480111629817
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| 1423 |
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158963.331452,86.98395388223243
|
| 1424 |
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158963.336454,86.97480111629817
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| 1425 |
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158963.341648,86.97480111629817
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| 1426 |
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158963.346514,86.97480111629817
|
| 1427 |
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158963.352512,86.97480111629817
|
| 1428 |
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158963.356617,86.97480111629817
|
| 1429 |
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158963.361466,86.98395388223243
|
| 1430 |
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158963.366696,86.97480111629817
|
| 1431 |
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158963.372223,86.97480111629817
|
| 1432 |
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158963.376497,86.97480111629817
|
| 1433 |
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158963.381463,86.97480111629817
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| 1434 |
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158963.387102,86.97480111629817
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158963.392329,86.97480111629817
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158963.39644,86.97480111629817
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| 1437 |
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158963.401479,86.97480111629817
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| 1438 |
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158963.409278,86.97480111629817
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| 1439 |
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158963.412235,86.96564740185984
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158963.4165,86.96564740185984
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158963.424235,86.96564740185984
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158963.427236,86.96564740185984
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158963.431437,86.96564740185984
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| 1444 |
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158963.436451,86.96564740185984
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158963.441442,86.97480111629817
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158963.44645,86.97480111629817
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| 1447 |
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158963.451436,86.97480111629817
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| 1448 |
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158963.456673,86.96564740185984
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| 1449 |
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158963.461438,86.97480111629817
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| 1450 |
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158963.466497,86.96564740185984
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| 1451 |
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158963.474855,86.96564740185984
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158963.478334,86.97480111629817
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158963.481635,86.97480111629817
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158963.487098,86.97480111629817
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| 1455 |
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158963.491676,86.97480111629817
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| 1456 |
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158963.49649,86.96564740185984
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| 1457 |
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158963.501436,86.96564740185984
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| 1458 |
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158963.508616,86.97480111629817
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| 1459 |
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158963.51224,86.97480111629817
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| 1460 |
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158963.516441,86.97480111629817
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| 1461 |
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158963.52144,86.97480111629817
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| 1462 |
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158963.528296,86.97480111629817
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| 1463 |
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158963.531437,86.97480111629817
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| 1464 |
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158963.536437,86.96564740185984
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| 1465 |
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158963.542042,86.96564740185984
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| 1466 |
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158963.546482,86.96564740185984
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| 1467 |
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158963.551443,86.96564740185984
|
| 1468 |
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158963.55676,86.97480111629817
|
| 1469 |
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158963.561703,86.97480111629817
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| 1470 |
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158963.566681,86.97480111629817
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| 1471 |
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158963.575079,86.97480111629817
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| 1472 |
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158963.578297,86.96564740185984
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| 1473 |
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158963.581905,86.96564740185984
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| 1474 |
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158963.58674,86.96564740185984
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| 1475 |
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158963.592294,86.96564740185984
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| 1476 |
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158963.596448,86.96564740185984
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| 1477 |
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158963.60142,86.96564740185984
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| 1478 |
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158963.609326,86.96564740185984
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| 1479 |
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158963.612221,86.96564740185984
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| 1480 |
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158963.616539,86.96564740185984
|
| 1481 |
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158963.624406,86.96564740185984
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| 1482 |
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158963.628212,86.96564740185984
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| 1483 |
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158963.631422,86.96564740185984
|
| 1484 |
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158963.636683,86.96564740185984
|
| 1485 |
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158963.641637,86.96564740185984
|
| 1486 |
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158963.646448,86.96564740185984
|
| 1487 |
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158963.652006,86.96564740185984
|
| 1488 |
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158963.656793,86.96564740185984
|
| 1489 |
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158963.661602,86.96564740185984
|
| 1490 |
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158963.666452,86.96564740185984
|
| 1491 |
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158963.671616,86.96564740185984
|
| 1492 |
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158963.676544,86.96564740185984
|
| 1493 |
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158963.681542,86.96564740185984
|
| 1494 |
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158963.687221,86.96564740185984
|
| 1495 |
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158963.691744,86.95649273903416
|
| 1496 |
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158963.696425,86.95649273903416
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multi_sessions_20251119_183159/session_003/Clamp_Data/clamp_data_tum.txt
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158961.696574000 43.08568255127325
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158961.709214000 46.199166123205636
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158961.712375000 46.96714738239666
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158961.717664000 48.41530358278538
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158961.721597000 49.739640338283365
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158961.726659000 51.499851788779885
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158961.731568000 53.1794822040351
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158961.737167000 54.97437101513702
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158961.741728000 56.79024128566962
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158961.746597000 58.64828264558609
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158961.751571000 60.46816151029944
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158961.757129000 62.427137634918886
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158961.762216000 64.34450743722289
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158961.766576000 66.24189935310412
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158961.771964000 68.21507364488696
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158961.777102000 70.3866443972142
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158961.781613000 72.08933646903314
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158961.786588000 73.81341240410482
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158961.791824000 75.5465451529113
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158961.796555000 76.87423812183265
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158961.801955000 78.29752002747556
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158961.809149000 79.80230343261519
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158961.812358000 80.35172946512597
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158961.817745000 80.98605683623644
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158961.821557000 81.55864160168446
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158961.827345000 82.13779150404616
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158961.831551000 82.48375073342606
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158961.836563000 82.85723630390513
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158961.842496000 83.2293590770761
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158961.846592000 83.62857432449644
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158961.851556000 84.04508584843
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158961.859039000 84.73222035625959
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158961.862343000 85.03188732049435
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158961.866946000 85.48891789105531
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158961.871658000 86.05475408216783
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158961.876561000 86.66304347933908
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158961.882493000 87.12113147140742
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158961.886681000 87.3401706773391
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158961.891572000 87.3857347942701
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158961.896556000 87.3401706773391
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158961.901872000 87.29458273130982
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158961.909176000 87.24897097071786
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158961.912357000 87.23984576213162
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158961.917665000 87.23071960166095
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158961.921555000 87.22159248942225
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158961.927874000 87.21246442553192
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158961.931551000 87.20333541010639
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158961.936604000 87.20333541010639
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158961.942630000 87.19420544326209
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158961.946595000 87.18507452511545
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158961.951643000 87.18507452511545
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158961.956554000 87.17594265578295
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158961.961948000 87.16680983538102
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158961.966590000 87.16680983538102
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| 1150 |
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158961.971803000 87.15767606402616
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|
multi_sessions_20251119_183159/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: 747
|
| 19 |
-
均值融合 (都低速): 747
|
| 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 18:32:51
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
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multi_sessions_20251119_183159/session_003/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_183159/session_003/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_183159/session_003/RGB_Images/timestamps.csv
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444,158963.626378
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446,158963.658777
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|
multi_sessions_20251119_183159/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:60252e017ade87ced9f006edbb9d03be65f52d142630d760cf7f455027286c0f
|
| 3 |
-
size 3615382
|
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|
multi_sessions_20251119_183159/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183159/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: 158956.229978s
|
| 6 |
-
Vive 第一帧时间戳: 1763548362.112401s
|
| 7 |
-
计算的 offset: -1763389405.882423s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.882423
|
| 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 18:32:51
|
| 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_183159/session_003/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183159/session_004/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1790 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
158973.775677,87.34928540751815
|
| 3 |
-
158973.780864,87.34928540751815
|
| 4 |
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158973.786017,87.34928540751815
|
| 5 |
-
158973.79124,87.34928540751815
|
| 6 |
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158973.795671,87.34928540751815
|
| 7 |
-
158973.800667,87.34928540751815
|
| 8 |
-
158973.807046,87.34928540751815
|
| 9 |
-
158973.810696,87.34928540751815
|
| 10 |
-
158973.815705,87.35839918441702
|
| 11 |
-
158973.820888,87.34928540751815
|
| 12 |
-
158973.826546,87.34928540751815
|
| 13 |
-
158973.83069,87.34928540751815
|
| 14 |
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158973.83569,87.34928540751815
|
| 15 |
-
158973.840662,87.34928540751815
|
| 16 |
-
158973.845709,87.35839918441702
|
| 17 |
-
158973.850644,87.35839918441702
|
| 18 |
-
158973.855646,87.35839918441702
|
| 19 |
-
158973.86069,87.34928540751815
|
| 20 |
-
158973.865651,87.34928540751815
|
| 21 |
-
158973.870787,87.35839918441702
|
| 22 |
-
158973.87565,87.35839918441702
|
| 23 |
-
158973.880645,87.35839918441702
|
| 24 |
-
158973.885711,87.35839918441702
|
| 25 |
-
158973.891007,87.35839918441702
|
| 26 |
-
158973.895644,87.35839918441702
|
| 27 |
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158973.900645,87.35839918441702
|
| 28 |
-
158973.906625,87.35839918441702
|
| 29 |
-
158973.910682,87.35839918441702
|
| 30 |
-
158973.915653,87.35839918441702
|
| 31 |
-
158973.92294,87.34928540751815
|
| 32 |
-
158973.926571,87.34928540751815
|
| 33 |
-
158973.930643,87.34928540751815
|
| 34 |
-
158973.937869,87.34928540751815
|
| 35 |
-
158973.941446,87.34928540751815
|
| 36 |
-
158973.945652,87.34928540751815
|
| 37 |
-
158973.950643,87.34928540751815
|
| 38 |
-
158973.955833,87.34928540751815
|
| 39 |
-
158973.960643,87.34928540751815
|
| 40 |
-
158973.965648,87.34928540751815
|
| 41 |
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158973.972301,87.34928540751815
|
| 42 |
-
158973.975649,87.34928540751815
|
| 43 |
-
158973.980967,87.3401706773391
|
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158982.410412,87.45858778057632
|
| 1730 |
-
158982.414973,87.45858778057632
|
| 1731 |
-
158982.419971,87.46769010904983
|
| 1732 |
-
158982.425763,87.46769010904983
|
| 1733 |
-
158982.429973,87.45858778057632
|
| 1734 |
-
158982.437177,87.45858778057632
|
| 1735 |
-
158982.440767,87.46769010904983
|
| 1736 |
-
158982.445029,87.46769010904983
|
| 1737 |
-
158982.450648,87.46769010904983
|
| 1738 |
-
158982.455687,87.46769010904983
|
| 1739 |
-
158982.460017,87.45858778057632
|
| 1740 |
-
158982.464981,87.46769010904983
|
| 1741 |
-
158982.47045,87.46769010904983
|
| 1742 |
-
158982.47498,87.46769010904983
|
| 1743 |
-
158982.479974,87.46769010904983
|
| 1744 |
-
158982.48499,87.45858778057632
|
| 1745 |
-
158982.489973,87.46769010904983
|
| 1746 |
-
158982.494971,87.46769010904983
|
| 1747 |
-
158982.500166,87.46769010904983
|
| 1748 |
-
158982.505923,87.46769010904983
|
| 1749 |
-
158982.509974,87.46769010904983
|
| 1750 |
-
158982.514974,87.46769010904983
|
| 1751 |
-
158982.520969,87.46769010904983
|
| 1752 |
-
158982.525298,87.46769010904983
|
| 1753 |
-
158982.529992,87.46769010904983
|
| 1754 |
-
158982.535216,87.46769010904983
|
| 1755 |
-
158982.540038,87.476791482733
|
| 1756 |
-
158982.545141,87.476791482733
|
| 1757 |
-
158982.550003,87.476791482733
|
| 1758 |
-
158982.554994,87.46769010904983
|
| 1759 |
-
158982.559971,87.46769010904983
|
| 1760 |
-
158982.565005,87.476791482733
|
| 1761 |
-
158982.57144,87.476791482733
|
| 1762 |
-
158982.574984,87.476791482733
|
| 1763 |
-
158982.579977,87.476791482733
|
| 1764 |
-
158982.585524,87.476791482733
|
| 1765 |
-
158982.590154,87.46769010904983
|
| 1766 |
-
158982.594973,87.46769010904983
|
| 1767 |
-
158982.600033,87.476791482733
|
| 1768 |
-
158982.606093,87.46769010904983
|
| 1769 |
-
158982.60996,87.46769010904983
|
| 1770 |
-
158982.614974,87.476791482733
|
| 1771 |
-
158982.620211,87.476791482733
|
| 1772 |
-
158982.62602,87.476791482733
|
| 1773 |
-
158982.629955,87.476791482733
|
| 1774 |
-
158982.635171,87.476791482733
|
| 1775 |
-
158982.639966,87.476791482733
|
| 1776 |
-
158982.645027,87.476791482733
|
| 1777 |
-
158982.650682,87.476791482733
|
| 1778 |
-
158982.654998,87.476791482733
|
| 1779 |
-
158982.659958,87.476791482733
|
| 1780 |
-
158982.664967,87.476791482733
|
| 1781 |
-
158982.670477,87.476791482733
|
| 1782 |
-
158982.674971,87.48589190150977
|
| 1783 |
-
158982.679962,87.48589190150977
|
| 1784 |
-
158982.685042,87.48589190150977
|
| 1785 |
-
158982.690018,87.48589190150977
|
| 1786 |
-
158982.694958,87.48589190150977
|
| 1787 |
-
158982.700081,87.48589190150977
|
| 1788 |
-
158982.705824,87.48589190150977
|
| 1789 |
-
158982.710401,87.48589190150977
|
| 1790 |
-
158982.714959,87.48589190150977
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multi_sessions_20251119_183159/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1789 +0,0 @@
|
|
| 1 |
-
158973.775677000 87.34928540751815
|
| 2 |
-
158973.780864000 87.34928540751815
|
| 3 |
-
158973.786017000 87.34928540751815
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| 4 |
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158973.791240000 87.34928540751815
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| 5 |
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| 6 |
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158973.800667000 87.34928540751815
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158973.807046000 87.34928540751815
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| 8 |
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158973.815705000 87.35839918441702
|
| 10 |
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158973.826546000 87.34928540751815
|
| 12 |
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158973.830690000 87.34928540751815
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| 13 |
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158973.840662000 87.34928540751815
|
| 15 |
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158973.845709000 87.35839918441702
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| 16 |
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158973.850644000 87.35839918441702
|
| 17 |
-
158973.855646000 87.35839918441702
|
| 18 |
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158973.860690000 87.34928540751815
|
| 19 |
-
158973.865651000 87.34928540751815
|
| 20 |
-
158973.870787000 87.35839918441702
|
| 21 |
-
158973.875650000 87.35839918441702
|
| 22 |
-
158973.880645000 87.35839918441702
|
| 23 |
-
158973.885711000 87.35839918441702
|
| 24 |
-
158973.891007000 87.35839918441702
|
| 25 |
-
158973.895644000 87.35839918441702
|
| 26 |
-
158973.900645000 87.35839918441702
|
| 27 |
-
158973.906625000 87.35839918441702
|
| 28 |
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158973.910682000 87.35839918441702
|
| 29 |
-
158973.915653000 87.35839918441702
|
| 30 |
-
158973.922940000 87.34928540751815
|
| 31 |
-
158973.926571000 87.34928540751815
|
| 32 |
-
158973.930643000 87.34928540751815
|
| 33 |
-
158973.937869000 87.34928540751815
|
| 34 |
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158973.941446000 87.34928540751815
|
| 35 |
-
158973.945652000 87.34928540751815
|
| 36 |
-
158973.950643000 87.34928540751815
|
| 37 |
-
158973.955833000 87.34928540751815
|
| 38 |
-
158973.960643000 87.34928540751815
|
| 39 |
-
158973.965648000 87.34928540751815
|
| 40 |
-
158973.972301000 87.34928540751815
|
| 41 |
-
158973.975649000 87.34928540751815
|
| 42 |
-
158973.980967000 87.3401706773391
|
| 43 |
-
158973.985972000 87.34928540751815
|
| 44 |
-
158973.991289000 87.34928540751815
|
| 45 |
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158973.995655000 87.34928540751815
|
| 46 |
-
158974.000648000 87.34928540751815
|
| 47 |
-
158974.005875000 87.34928540751815
|
| 48 |
-
158974.010654000 87.35839918441702
|
| 49 |
-
158974.015678000 87.35839918441702
|
| 50 |
-
158974.023798000 87.35839918441702
|
| 51 |
-
158974.027456000 87.34928540751815
|
| 52 |
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158974.030638000 87.34928540751815
|
| 53 |
-
158974.038590000 87.34928540751815
|
| 54 |
-
158974.042421000 87.35839918441702
|
| 55 |
-
158974.045623000 87.35839918441702
|
| 56 |
-
158974.050619000 87.35839918441702
|
| 57 |
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158974.055896000 87.35839918441702
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| 58 |
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158974.060626000 87.34928540751815
|
| 59 |
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158974.065626000 87.34928540751815
|
| 60 |
-
158974.072397000 87.34928540751815
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| 61 |
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158974.075621000 87.34928540751815
|
| 62 |
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158974.080789000 87.34928540751815
|
| 63 |
-
158974.085812000 87.34928540751815
|
| 64 |
-
158974.090976000 87.35839918441702
|
| 65 |
-
158974.095629000 87.35839918441702
|
| 66 |
-
158974.100618000 87.35839918441702
|
| 67 |
-
158974.106422000 87.35839918441702
|
| 68 |
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158974.110649000 87.35839918441702
|
| 69 |
-
158974.115705000 87.35839918441702
|
| 70 |
-
158974.120727000 87.35839918441702
|
| 71 |
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158974.125685000 87.35839918441702
|
| 72 |
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158974.130632000 87.35839918441702
|
| 73 |
-
158974.137608000 87.35839918441702
|
| 74 |
-
158974.141415000 87.35839918441702
|
| 75 |
-
158974.145625000 87.35839918441702
|
| 76 |
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158974.150629000 87.35839918441702
|
| 77 |
-
158974.155909000 87.34928540751815
|
| 78 |
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158974.160657000 87.35839918441702
|
| 79 |
-
158974.165622000 87.35839918441702
|
| 80 |
-
158974.170863000 87.34928540751815
|
| 81 |
-
158974.175620000 87.34928540751815
|
| 82 |
-
158974.180639000 87.35839918441702
|
| 83 |
-
158974.185928000 87.34928540751815
|
| 84 |
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158974.190663000 87.34928540751815
|
| 85 |
-
158974.195624000 87.34928540751815
|
| 86 |
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158974.200612000 87.34928540751815
|
| 87 |
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158974.205955000 87.34928540751815
|
| 88 |
-
158974.210703000 87.34928540751815
|
| 89 |
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158974.215684000 87.35839918441702
|
| 90 |
-
158974.223860000 87.35839918441702
|
| 91 |
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158974.227415000 87.34928540751815
|
| 92 |
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158974.230613000 87.35839918441702
|
| 93 |
-
158974.237660000 87.35839918441702
|
| 94 |
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158974.241408000 87.34928540751815
|
| 95 |
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158974.245603000 87.35839918441702
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| 96 |
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158974.250591000 87.35839918441702
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158974.255944000 87.35839918441702
|
| 98 |
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158974.260615000 87.35839918441702
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| 99 |
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158974.265602000 87.35839918441702
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| 100 |
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158974.272464000 87.34928540751815
|
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158974.275680000 87.35839918441702
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158974.280703000 87.34928540751815
|
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158974.285761000 87.35839918441702
|
| 104 |
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158974.292900000 87.35839918441702
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| 105 |
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158974.296376000 87.35839918441702
|
| 106 |
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158974.300588000 87.34928540751815
|
| 107 |
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158974.306420000 87.34928540751815
|
| 108 |
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158974.310654000 87.34928540751815
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| 109 |
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158974.315601000 87.34928540751815
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| 110 |
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158974.322665000 87.34928540751815
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| 112 |
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158974.330589000 87.34928540751815
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158974.335761000 87.34928540751815
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| 115 |
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| 116 |
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| 118 |
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158974.360592000 87.34928540751815
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| 119 |
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158974.365600000 87.34928540751815
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| 120 |
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158974.375615000 87.34928540751815
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158974.381053000 87.34928540751815
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| 124 |
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158974.391380000 87.34928540751815
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| 125 |
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158974.395594000 87.34928540751815
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158974.407130000 87.34928540751815
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| 128 |
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158974.410598000 87.34928540751815
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158974.430590000 87.34928540751815
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158974.440595000 87.34928540751815
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158974.445602000 87.34928540751815
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158974.450862000 87.34928540751815
|
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158974.455660000 87.34928540751815
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| 138 |
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158974.460572000 87.34928540751815
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158974.465639000 87.34928540751815
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158974.472477000 87.35839918441702
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158974.475578000 87.34928540751815
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158974.480573000 87.34928540751815
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158974.485911000 87.34928540751815
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158974.500632000 87.34928540751815
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158974.831340000 87.3401706773391
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158981.925839000 87.44948449742859
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158981.930031000 87.44948449742859
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158981.936786000 87.44948449742859
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158981.940040000 87.44948449742859
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158981.945075000 87.44948449742859
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158981.955093000 87.45858778057632
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158981.960031000 87.45858778057632
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158981.975039000 87.44948449742859
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158981.995014000 87.44948449742859
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158982.000412000 87.44948449742859
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158982.010016000 87.44948449742859
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158982.540038000 87.476791482733
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158982.545141000 87.476791482733
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158982.550003000 87.476791482733
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158982.554994000 87.46769010904983
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158982.626020000 87.476791482733
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158982.635171000 87.476791482733
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158982.645027000 87.476791482733
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158982.650682000 87.476791482733
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158982.654998000 87.476791482733
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158982.674971000 87.48589190150977
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158982.694958000 87.48589190150977
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158982.714959000 87.48589190150977
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multi_sessions_20251119_183159/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: 894
|
| 19 |
-
均值融合 (都低速): 894
|
| 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 18:33:10
|
| 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_183159/session_004/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183159/session_004/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183159/session_004/RGB_Images/timestamps.csv
DELETED
|
@@ -1,539 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158973.759196
|
| 3 |
-
1,158973.771767
|
| 4 |
-
2,158973.793266
|
| 5 |
-
3,158973.805138
|
| 6 |
-
4,158973.826874
|
| 7 |
-
5,158973.838653
|
| 8 |
-
6,158973.859921
|
| 9 |
-
7,158973.87276
|
| 10 |
-
8,158973.893155
|
| 11 |
-
9,158973.905072
|
| 12 |
-
10,158973.924021
|
| 13 |
-
11,158973.93819
|
| 14 |
-
12,158973.956441
|
| 15 |
-
13,158973.971676
|
| 16 |
-
14,158973.993367
|
| 17 |
-
15,158974.005174
|
| 18 |
-
16,158974.024025
|
| 19 |
-
17,158974.03806
|
| 20 |
-
18,158974.059004
|
| 21 |
-
19,158974.071699
|
| 22 |
-
20,158974.093089
|
| 23 |
-
21,158974.105039
|
| 24 |
-
22,158974.123936
|
| 25 |
-
23,158974.138781
|
| 26 |
-
24,158974.156719
|
| 27 |
-
25,158974.17279
|
| 28 |
-
26,158974.193369
|
| 29 |
-
27,158974.205259
|
| 30 |
-
28,158974.224088
|
| 31 |
-
29,158974.23804
|
| 32 |
-
30,158974.259189
|
| 33 |
-
31,158974.271732
|
| 34 |
-
32,158974.293075
|
| 35 |
-
33,158974.305033
|
| 36 |
-
34,158974.323562
|
| 37 |
-
35,158974.339044
|
| 38 |
-
36,158974.35803
|
| 39 |
-
37,158974.371758
|
| 40 |
-
38,158974.39337
|
| 41 |
-
39,158974.405231
|
| 42 |
-
40,158974.426953
|
| 43 |
-
41,158974.438461
|
| 44 |
-
42,158974.459001
|
| 45 |
-
43,158974.471737
|
| 46 |
-
44,158974.493027
|
| 47 |
-
45,158974.504909
|
| 48 |
-
46,158974.523695
|
| 49 |
-
47,158974.539028
|
| 50 |
-
48,158974.558072
|
| 51 |
-
49,158974.57174
|
| 52 |
-
50,158974.593566
|
| 53 |
-
51,158974.605312
|
| 54 |
-
52,158974.623819
|
| 55 |
-
53,158974.638311
|
| 56 |
-
54,158974.658902
|
| 57 |
-
55,158974.671588
|
| 58 |
-
56,158974.692849
|
| 59 |
-
57,158974.704944
|
| 60 |
-
58,158974.723622
|
| 61 |
-
59,158974.738048
|
| 62 |
-
60,158974.75926
|
| 63 |
-
61,158974.771835
|
| 64 |
-
62,158974.793408
|
| 65 |
-
63,158974.804654
|
| 66 |
-
64,158974.826159
|
| 67 |
-
65,158974.837947
|
| 68 |
-
66,158974.859095
|
| 69 |
-
67,158974.871478
|
| 70 |
-
68,158974.889965
|
| 71 |
-
69,158974.904804
|
| 72 |
-
70,158974.926541
|
| 73 |
-
71,158974.938972
|
| 74 |
-
72,158974.958053
|
| 75 |
-
73,158974.971689
|
| 76 |
-
74,158974.99338
|
| 77 |
-
75,158975.004523
|
| 78 |
-
76,158975.024025
|
| 79 |
-
77,158975.037952
|
| 80 |
-
78,158975.059217
|
| 81 |
-
79,158975.072041
|
| 82 |
-
80,158975.092932
|
| 83 |
-
81,158975.104898
|
| 84 |
-
82,158975.123462
|
| 85 |
-
83,158975.137779
|
| 86 |
-
84,158975.156422
|
| 87 |
-
85,158975.171301
|
| 88 |
-
86,158975.193376
|
| 89 |
-
87,158975.2045
|
| 90 |
-
88,158975.223088
|
| 91 |
-
89,158975.238728
|
| 92 |
-
90,158975.259143
|
| 93 |
-
91,158975.271614
|
| 94 |
-
92,158975.292932
|
| 95 |
-
93,158975.30489
|
| 96 |
-
94,158975.326583
|
| 97 |
-
95,158975.338908
|
| 98 |
-
96,158975.358895
|
| 99 |
-
97,158975.371267
|
| 100 |
-
98,158975.392966
|
| 101 |
-
99,158975.40453
|
| 102 |
-
100,158975.423096
|
| 103 |
-
101,158975.438708
|
| 104 |
-
102,158975.456373
|
| 105 |
-
103,158975.471283
|
| 106 |
-
104,158975.489607
|
| 107 |
-
105,158975.504591
|
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485,158981.836757
|
| 488 |
-
486,158981.855553
|
| 489 |
-
487,158981.869863
|
| 490 |
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488,158981.890188
|
| 491 |
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489,158981.903425
|
| 492 |
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490,158981.922512
|
| 493 |
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491,158981.93632
|
| 494 |
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492,158981.957144
|
| 495 |
-
493,158981.969839
|
| 496 |
-
494,158981.991233
|
| 497 |
-
495,158982.003774
|
| 498 |
-
496,158982.025024
|
| 499 |
-
497,158982.037214
|
| 500 |
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498,158982.055447
|
| 501 |
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499,158982.069862
|
| 502 |
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500,158982.090397
|
| 503 |
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501,158982.102933
|
| 504 |
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502,158982.12143
|
| 505 |
-
503,158982.136704
|
| 506 |
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504,158982.158675
|
| 507 |
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505,158982.170472
|
| 508 |
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506,158982.191771
|
| 509 |
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507,158982.203003
|
| 510 |
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508,158982.224411
|
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509,158982.236567
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510,158982.257326
|
| 513 |
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511,158982.269735
|
| 514 |
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512,158982.291174
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| 515 |
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513,158982.302835
|
| 516 |
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514,158982.321294
|
| 517 |
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515,158982.336549
|
| 518 |
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516,158982.358542
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517,158982.370285
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518,158982.389753
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519,158982.402859
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520,158982.424282
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521,158982.436399
|
| 524 |
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522,158982.457733
|
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523,158982.469733
|
| 526 |
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524,158982.491318
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525,158982.502903
|
| 528 |
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526,158982.521088
|
| 529 |
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527,158982.53717
|
| 530 |
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528,158982.558582
|
| 531 |
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529,158982.570236
|
| 532 |
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530,158982.58965
|
| 533 |
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531,158982.602981
|
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532,158982.62392
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533,158982.636168
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534,158982.657819
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535,158982.669758
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536,158982.691059
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537,158982.702796
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|
multi_sessions_20251119_183159/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:c8f47f2ed9a13f307912c33a1ea8dd714303a4da079c734e39d354871e5e56ed
|
| 3 |
-
size 4290961
|
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|
multi_sessions_20251119_183159/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183159/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: 158973.772023s
|
| 6 |
-
Vive 第一帧时间戳: 1763548379.652522s
|
| 7 |
-
计算的 offset: -1763389405.880499s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.880499
|
| 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 18:33:10
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
|
|
|
|
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|
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|
multi_sessions_20251119_183159/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_183159/session_005/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1575 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
159011.702865,87.61319743423809
|
| 3 |
-
159011.708106,87.61319743423809
|
| 4 |
-
159011.712942,87.60411039633226
|
| 5 |
-
159011.717829,87.61319743423809
|
| 6 |
-
159011.722839,87.61319743423809
|
| 7 |
-
159011.730632,87.61319743423809
|
| 8 |
-
159011.733608,87.61319743423809
|
| 9 |
-
159011.738392,87.61319743423809
|
| 10 |
-
159011.743206,87.61319743423809
|
| 11 |
-
159011.748735,87.61319743423809
|
| 12 |
-
159011.753034,87.61319743423809
|
| 13 |
-
159011.757814,87.61319743423809
|
| 14 |
-
159011.763286,87.62228351549781
|
| 15 |
-
159011.767826,87.61319743423809
|
| 16 |
-
159011.772829,87.62228351549781
|
| 17 |
-
159011.777867,87.61319743423809
|
| 18 |
-
159011.782934,87.61319743423809
|
| 19 |
-
159011.787816,87.61319743423809
|
| 20 |
-
159011.793104,87.61319743423809
|
| 21 |
-
159011.797831,87.61319743423809
|
| 22 |
-
159011.802826,87.61319743423809
|
| 23 |
-
159011.807815,87.61319743423809
|
| 24 |
-
159011.812824,87.61319743423809
|
| 25 |
-
159011.818744,87.61319743423809
|
| 26 |
-
159011.822826,87.61319743423809
|
| 27 |
-
159011.828393,87.61319743423809
|
| 28 |
-
159011.832865,87.61319743423809
|
| 29 |
-
159011.837839,87.61319743423809
|
| 30 |
-
159011.842977,87.61319743423809
|
| 31 |
-
159011.847863,87.61319743423809
|
| 32 |
-
159011.852822,87.61319743423809
|
| 33 |
-
159011.857814,87.61319743423809
|
| 34 |
-
159011.864618,87.61319743423809
|
| 35 |
-
159011.867824,87.61319743423809
|
| 36 |
-
159011.87282,87.61319743423809
|
| 37 |
-
159011.878441,87.61319743423809
|
| 38 |
-
159011.884292,87.61319743423809
|
| 39 |
-
159011.887814,87.61319743423809
|
| 40 |
-
159011.894293,87.61319743423809
|
| 41 |
-
159011.898023,87.61319743423809
|
| 42 |
-
159011.902898,87.61319743423809
|
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159019.187311,87.39484475688592
|
| 1500 |
-
159019.192365,87.40395376564047
|
| 1501 |
-
159019.19732,87.39484475688592
|
| 1502 |
-
159019.202311,87.39484475688592
|
| 1503 |
-
159019.207525,87.39484475688592
|
| 1504 |
-
159019.212375,87.39484475688592
|
| 1505 |
-
159019.21731,87.40395376564047
|
| 1506 |
-
159019.222366,87.39484475688592
|
| 1507 |
-
159019.227751,87.40395376564047
|
| 1508 |
-
159019.232321,87.39484475688592
|
| 1509 |
-
159019.237309,87.40395376564047
|
| 1510 |
-
159019.244733,87.40395376564047
|
| 1511 |
-
159019.248083,87.40395376564047
|
| 1512 |
-
159019.252315,87.40395376564047
|
| 1513 |
-
159019.257359,87.40395376564047
|
| 1514 |
-
159019.263037,87.40395376564047
|
| 1515 |
-
159019.267316,87.40395376564047
|
| 1516 |
-
159019.272298,87.40395376564047
|
| 1517 |
-
159019.278303,87.40395376564047
|
| 1518 |
-
159019.282721,87.41306182041758
|
| 1519 |
-
159019.287293,87.40395376564047
|
| 1520 |
-
159019.292575,87.40395376564047
|
| 1521 |
-
159019.297299,87.40395376564047
|
| 1522 |
-
159019.302332,87.40395376564047
|
| 1523 |
-
159019.307322,87.41306182041758
|
| 1524 |
-
159019.312299,87.41306182041758
|
| 1525 |
-
159019.317384,87.41306182041758
|
| 1526 |
-
159019.322379,87.41306182041758
|
| 1527 |
-
159019.3299,87.41306182041758
|
| 1528 |
-
159019.333083,87.41306182041758
|
| 1529 |
-
159019.337295,87.41306182041758
|
| 1530 |
-
159019.345095,87.41306182041758
|
| 1531 |
-
159019.348065,87.41306182041758
|
| 1532 |
-
159019.352385,87.41306182041758
|
| 1533 |
-
159019.357717,87.41306182041758
|
| 1534 |
-
159019.362467,87.41306182041758
|
| 1535 |
-
159019.367295,87.41306182041758
|
| 1536 |
-
159019.372302,87.41306182041758
|
| 1537 |
-
159019.378258,87.42216892110109
|
| 1538 |
-
159019.382304,87.42216892110109
|
| 1539 |
-
159019.387291,87.41306182041758
|
| 1540 |
-
159019.392406,87.41306182041758
|
| 1541 |
-
159019.397301,87.41306182041758
|
| 1542 |
-
159019.402383,87.41306182041758
|
| 1543 |
-
159019.407602,87.41306182041758
|
| 1544 |
-
159019.412328,87.41306182041758
|
| 1545 |
-
159019.417731,87.41306182041758
|
| 1546 |
-
159019.422303,87.41306182041758
|
| 1547 |
-
159019.429414,87.41306182041758
|
| 1548 |
-
159019.43308,87.41306182041758
|
| 1549 |
-
159019.437324,87.41306182041758
|
| 1550 |
-
159019.445012,87.42216892110109
|
| 1551 |
-
159019.448065,87.42216892110109
|
| 1552 |
-
159019.452301,87.42216892110109
|
| 1553 |
-
159019.457308,87.41306182041758
|
| 1554 |
-
159019.463386,87.41306182041758
|
| 1555 |
-
159019.467297,87.41306182041758
|
| 1556 |
-
159019.472298,87.42216892110109
|
| 1557 |
-
159019.478272,87.42216892110109
|
| 1558 |
-
159019.482546,87.42216892110109
|
| 1559 |
-
159019.487271,87.41306182041758
|
| 1560 |
-
159019.492348,87.41306182041758
|
| 1561 |
-
159019.497278,87.42216892110109
|
| 1562 |
-
159019.502283,87.42216892110109
|
| 1563 |
-
159019.507314,87.42216892110109
|
| 1564 |
-
159019.512561,87.42216892110109
|
| 1565 |
-
159019.517533,87.41306182041758
|
| 1566 |
-
159019.522503,87.42216892110109
|
| 1567 |
-
159019.52845,87.42216892110109
|
| 1568 |
-
159019.532274,87.41306182041758
|
| 1569 |
-
159019.537272,87.41306182041758
|
| 1570 |
-
159019.545066,87.41306182041758
|
| 1571 |
-
159019.548043,87.41306182041758
|
| 1572 |
-
159019.552284,87.42216892110109
|
| 1573 |
-
159019.557288,87.42216892110109
|
| 1574 |
-
159019.562639,87.41306182041758
|
| 1575 |
-
159019.567274,87.41306182041758
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multi_sessions_20251119_183159/session_005/Clamp_Data/clamp_data_tum.txt
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159018.987333000 87.39484475688592
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159018.992817000 87.39484475688592
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159018.997338000 87.39484475688592
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159019.002344000 87.39484475688592
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159019.017335000 87.39484475688592
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multi_sessions_20251119_183159/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: 786
|
| 19 |
-
均值融合 (都低速): 786
|
| 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 18:33:47
|
| 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_183159/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183159/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183159/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,474 +0,0 @@
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| 1 |
-
frame_index,timestamp
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multi_sessions_20251119_183159/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
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| 2 |
-
oid sha256:1ea2154a0694d12d3bcfe43377c41bd108361c550502dc2978bd347bf657c66f
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| 3 |
-
size 3891999
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multi_sessions_20251119_183159/session_005/SLAM_Poses/slam_raw.txt
DELETED
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_183159/session_005/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 159011.705978s
|
| 6 |
-
Vive 第一帧时间戳: 1763548417.592465s
|
| 7 |
-
计算的 offset: -1763389405.886487s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.886487
|
| 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 18:33:47
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
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