Delete multi_sessions_20251119_183028
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- multi_sessions_20251119_183028/collection_summary.txt +0 -93
- multi_sessions_20251119_183028/session_001/Clamp_Data/clamp.csv +0 -1532
- multi_sessions_20251119_183028/session_001/Clamp_Data/clamp_data_tum.txt +0 -1531
- multi_sessions_20251119_183028/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183028/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183028/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183028/session_001/RGB_Images/timestamps.csv +0 -461
- multi_sessions_20251119_183028/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183028/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183028/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183028/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183028/session_002/Clamp_Data/clamp.csv +0 -1687
- multi_sessions_20251119_183028/session_002/Clamp_Data/clamp_data_tum.txt +0 -1686
- multi_sessions_20251119_183028/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183028/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183028/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183028/session_002/RGB_Images/timestamps.csv +0 -507
- multi_sessions_20251119_183028/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183028/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183028/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183028/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183028/session_003/Clamp_Data/clamp.csv +0 -1565
- multi_sessions_20251119_183028/session_003/Clamp_Data/clamp_data_tum.txt +0 -1564
- multi_sessions_20251119_183028/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183028/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183028/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183028/session_003/RGB_Images/timestamps.csv +0 -470
- multi_sessions_20251119_183028/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183028/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183028/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183028/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183028/session_004/Clamp_Data/clamp.csv +0 -1446
- multi_sessions_20251119_183028/session_004/Clamp_Data/clamp_data_tum.txt +0 -1445
- multi_sessions_20251119_183028/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183028/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183028/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183028/session_004/RGB_Images/timestamps.csv +0 -434
- multi_sessions_20251119_183028/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183028/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183028/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183028/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183028/session_005/Clamp_Data/clamp.csv +0 -1746
- multi_sessions_20251119_183028/session_005/Clamp_Data/clamp_data_tum.txt +0 -1745
- multi_sessions_20251119_183028/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183028/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183028/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183028/session_005/RGB_Images/timestamps.csv +0 -525
- multi_sessions_20251119_183028/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183028/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183028/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_183028/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 18:30:29 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_183028
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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 18:30:29 CST
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输出目录: ./multi_sessions_20251119_183028/session_001
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结束时间: 2025年 11月 19日 星期三 18:30:43 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_183028/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 18:30:47 CST
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输出目录: ./multi_sessions_20251119_183028/session_002
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结束时间: 2025年 11月 19日 星期三 18:31:03 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_183028/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 18:31:07 CST
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输出目录: ./multi_sessions_20251119_183028/session_003
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结束时间: 2025年 11月 19日 星期三 18:31:21 CST
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持续时间: 14秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_183028/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 18:31:25 CST
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输出目录: ./multi_sessions_20251119_183028/session_004
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结束时间: 2025年 11月 19日 星期三 18:31:38 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_183028/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 18:31:42 CST
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输出目录: ./multi_sessions_20251119_183028/session_005
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结束时间: 2025年 11月 19日 星期三 18:31:57 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_183028/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 18:31:57 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_183028/
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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_183028/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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158833.022646,86.86489397516688
|
| 1503 |
-
158833.02727,86.86489397516688
|
| 1504 |
-
158833.032204,86.86489397516688
|
| 1505 |
-
158833.038384,86.86489397516688
|
| 1506 |
-
158833.042222,86.86489397516688
|
| 1507 |
-
158833.047217,86.86489397516688
|
| 1508 |
-
158833.052276,86.87405811544221
|
| 1509 |
-
158833.057678,86.87405811544221
|
| 1510 |
-
158833.062209,86.87405811544221
|
| 1511 |
-
158833.067222,86.87405811544221
|
| 1512 |
-
158833.073282,86.87405811544221
|
| 1513 |
-
158833.077222,86.87405811544221
|
| 1514 |
-
158833.082231,86.87405811544221
|
| 1515 |
-
158833.087246,86.87405811544221
|
| 1516 |
-
158833.092378,86.87405811544221
|
| 1517 |
-
158833.09722,86.86489397516688
|
| 1518 |
-
158833.102526,86.87405811544221
|
| 1519 |
-
158833.107601,86.87405811544221
|
| 1520 |
-
158833.112228,86.87405811544221
|
| 1521 |
-
158833.117279,86.87405811544221
|
| 1522 |
-
158833.1228,86.87405811544221
|
| 1523 |
-
158833.127212,86.87405811544221
|
| 1524 |
-
158833.132207,86.87405811544221
|
| 1525 |
-
158833.137892,86.87405811544221
|
| 1526 |
-
158833.142221,86.87405811544221
|
| 1527 |
-
158833.147259,86.87405811544221
|
| 1528 |
-
158833.152336,86.87405811544221
|
| 1529 |
-
158833.157238,86.87405811544221
|
| 1530 |
-
158833.162211,86.87405811544221
|
| 1531 |
-
158833.16732,86.87405811544221
|
| 1532 |
-
158833.17226,86.87405811544221
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|
multi_sessions_20251119_183028/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1531 +0,0 @@
|
|
| 1 |
-
158825.523547000 87.975893266592
|
| 2 |
-
158825.527841000 87.975893266592
|
| 3 |
-
158825.533054000 87.975893266592
|
| 4 |
-
158825.538044000 87.975893266592
|
| 5 |
-
158825.543329000 87.975893266592
|
| 6 |
-
158825.547838000 87.96684458479821
|
| 7 |
-
158825.552851000 87.96684458479821
|
| 8 |
-
158825.558954000 87.96684458479821
|
| 9 |
-
158825.562897000 87.96684458479821
|
| 10 |
-
158825.567958000 87.96684458479821
|
| 11 |
-
158825.572887000 87.975893266592
|
| 12 |
-
158825.578403000 87.975893266592
|
| 13 |
-
158825.582837000 87.975893266592
|
| 14 |
-
158825.587854000 87.96684458479821
|
| 15 |
-
158825.593217000 87.96684458479821
|
| 16 |
-
158825.597858000 87.96684458479821
|
| 17 |
-
158825.602833000 87.96684458479821
|
| 18 |
-
158825.607936000 87.96684458479821
|
| 19 |
-
158825.612842000 87.96684458479821
|
| 20 |
-
158825.617871000 87.96684458479821
|
| 21 |
-
158825.623398000 87.975893266592
|
| 22 |
-
158825.627870000 87.975893266592
|
| 23 |
-
158825.633034000 87.96684458479821
|
| 24 |
-
158825.638081000 87.96684458479821
|
| 25 |
-
158825.642837000 87.96684458479821
|
| 26 |
-
158825.647913000 87.96684458479821
|
| 27 |
-
158825.652861000 87.96684458479821
|
| 28 |
-
158825.658715000 87.96684458479821
|
| 29 |
-
158825.662857000 87.96684458479821
|
| 30 |
-
158825.667853000 87.96684458479821
|
| 31 |
-
158825.674981000 87.96684458479821
|
| 32 |
-
158825.678677000 87.96684458479821
|
| 33 |
-
158825.683317000 87.96684458479821
|
| 34 |
-
158825.687850000 87.96684458479821
|
| 35 |
-
158825.692997000 87.96684458479821
|
| 36 |
-
158825.697857000 87.96684458479821
|
| 37 |
-
158825.702820000 87.96684458479821
|
| 38 |
-
158825.708015000 87.975893266592
|
| 39 |
-
158825.712827000 87.975893266592
|
| 40 |
-
158825.717879000 87.975893266592
|
| 41 |
-
158825.723568000 87.975893266592
|
| 42 |
-
158825.727825000 87.96684458479821
|
| 43 |
-
158825.732988000 87.96684458479821
|
| 44 |
-
158825.737903000 87.96684458479821
|
| 45 |
-
158825.743888000 87.96684458479821
|
| 46 |
-
158825.747824000 87.96684458479821
|
| 47 |
-
158825.752917000 87.96684458479821
|
| 48 |
-
158825.758477000 87.96684458479821
|
| 49 |
-
158825.762828000 87.96684458479821
|
| 50 |
-
158825.767896000 87.96684458479821
|
| 51 |
-
158825.772854000 87.96684458479821
|
| 52 |
-
158825.778164000 87.96684458479821
|
| 53 |
-
158825.782823000 87.96684458479821
|
| 54 |
-
158825.787842000 87.96684458479821
|
| 55 |
-
158825.792841000 87.96684458479821
|
| 56 |
-
158825.797843000 87.96684458479821
|
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| 1451 |
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158832.777233000 86.85572888778924
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158832.782240000 86.85572888778924
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158832.787413000 86.85572888778924
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158832.792231000 86.85572888778924
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158832.807241000 86.85572888778924
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158832.812241000 86.86489397516688
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158832.927221000 86.86489397516688
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158832.958130000 86.87405811544221
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158832.997224000 86.87405811544221
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158833.012229000 86.87405811544221
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158833.017531000 86.86489397516688
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158833.022646000 86.86489397516688
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158833.027270000 86.86489397516688
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158833.032204000 86.86489397516688
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158833.038384000 86.86489397516688
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158833.042222000 86.86489397516688
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158833.047217000 86.86489397516688
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158833.052276000 86.87405811544221
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158833.057678000 86.87405811544221
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158833.062209000 86.87405811544221
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| 1510 |
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158833.067222000 86.87405811544221
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| 1511 |
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158833.073282000 86.87405811544221
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158833.077222000 86.87405811544221
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| 1513 |
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158833.082231000 86.87405811544221
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| 1514 |
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158833.087246000 86.87405811544221
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| 1515 |
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158833.092378000 86.87405811544221
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| 1516 |
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158833.097220000 86.86489397516688
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| 1517 |
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158833.102526000 86.87405811544221
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158833.107601000 86.87405811544221
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158833.112228000 86.87405811544221
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158833.117279000 86.87405811544221
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| 1521 |
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| 1522 |
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158833.127212000 86.87405811544221
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| 1523 |
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158833.132207000 86.87405811544221
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| 1524 |
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158833.147259000 86.87405811544221
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158833.152336000 86.87405811544221
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158833.167320000 86.87405811544221
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multi_sessions_20251119_183028/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: 765
|
| 19 |
-
均值融合 (都低速): 765
|
| 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 18:30:40
|
| 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_183028/session_001/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_183028/session_001/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_183028/session_001/RGB_Images/timestamps.csv
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318,158830.808268
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|
multi_sessions_20251119_183028/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:8dd8535fba2389c94d95cd42409d5ac29574f63937e0f90d84458bc544748926
|
| 3 |
-
size 3796006
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|
multi_sessions_20251119_183028/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183028/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: 158825.523981s
|
| 6 |
-
Vive 第一帧时间戳: 1763548231.402470s
|
| 7 |
-
计算的 offset: -1763389405.878489s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.878489
|
| 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 18:30:40
|
| 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_183028/session_001/Vive_Poses/vive_data_tum.txt
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|
multi_sessions_20251119_183028/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1686 +0,0 @@
|
|
| 1 |
-
158844.291210000 87.29458273130982
|
| 2 |
-
158844.296219000 87.29458273130982
|
| 3 |
-
158844.303611000 87.28546228389118
|
| 4 |
-
158844.307091000 87.28546228389118
|
| 5 |
-
158844.311211000 87.28546228389118
|
| 6 |
-
158844.316700000 87.28546228389118
|
| 7 |
-
158844.321314000 87.28546228389118
|
| 8 |
-
158844.326265000 87.28546228389118
|
| 9 |
-
158844.331235000 87.28546228389118
|
| 10 |
-
158844.336960000 87.28546228389118
|
| 11 |
-
158844.341227000 87.28546228389118
|
| 12 |
-
158844.346364000 87.27634088400632
|
| 13 |
-
158844.351255000 87.27634088400632
|
| 14 |
-
158844.356924000 87.28546228389118
|
| 15 |
-
158844.361207000 87.28546228389118
|
| 16 |
-
158844.366220000 87.28546228389118
|
| 17 |
-
158844.371537000 87.28546228389118
|
| 18 |
-
158844.376235000 87.29458273130982
|
| 19 |
-
158844.381230000 87.28546228389118
|
| 20 |
-
158844.386267000 87.28546228389118
|
| 21 |
-
158844.391210000 87.28546228389118
|
| 22 |
-
158844.396233000 87.28546228389118
|
| 23 |
-
158844.401672000 87.28546228389118
|
| 24 |
-
158844.406302000 87.28546228389118
|
| 25 |
-
158844.411199000 87.28546228389118
|
| 26 |
-
158844.416479000 87.28546228389118
|
| 27 |
-
158844.421204000 87.28546228389118
|
| 28 |
-
158844.426214000 87.27634088400632
|
| 29 |
-
158844.431230000 87.27634088400632
|
| 30 |
-
158844.436731000 87.28546228389118
|
| 31 |
-
158844.441210000 87.28546228389118
|
| 32 |
-
158844.446205000 87.28546228389118
|
| 33 |
-
158844.454101000 87.28546228389118
|
| 34 |
-
158844.457024000 87.28546228389118
|
| 35 |
-
158844.461183000 87.28546228389118
|
| 36 |
-
158844.466193000 87.28546228389118
|
| 37 |
-
158844.471548000 87.28546228389118
|
| 38 |
-
158844.476187000 87.28546228389118
|
| 39 |
-
158844.481192000 87.28546228389118
|
| 40 |
-
158844.486217000 87.28546228389118
|
| 41 |
-
158844.491186000 87.28546228389118
|
| 42 |
-
158844.496629000 87.28546228389118
|
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multi_sessions_20251119_183028/session_002/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 842
|
| 19 |
-
均值融合 (都低速): 842
|
| 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 18:31:00
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
|
|
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|
multi_sessions_20251119_183028/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183028/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183028/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,507 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158844.288314
|
| 3 |
-
1,158844.3048
|
| 4 |
-
2,158844.320431
|
| 5 |
-
3,158844.337087
|
| 6 |
-
4,158844.354319
|
| 7 |
-
5,158844.371054
|
| 8 |
-
6,158844.386822
|
| 9 |
-
7,158844.404994
|
| 10 |
-
8,158844.420524
|
| 11 |
-
9,158844.439267
|
| 12 |
-
10,158844.453577
|
| 13 |
-
11,158844.471076
|
| 14 |
-
12,158844.487921
|
| 15 |
-
13,158844.504749
|
| 16 |
-
14,158844.52013
|
| 17 |
-
15,158844.538036
|
| 18 |
-
16,158844.556299
|
| 19 |
-
17,158844.571079
|
| 20 |
-
18,158844.586884
|
| 21 |
-
19,158844.604733
|
| 22 |
-
20,158844.622842
|
| 23 |
-
21,158844.637259
|
| 24 |
-
22,158844.653778
|
| 25 |
-
23,158844.671112
|
| 26 |
-
24,158844.688204
|
| 27 |
-
25,158844.704862
|
| 28 |
-
26,158844.720093
|
| 29 |
-
27,158844.737074
|
| 30 |
-
28,158844.75425
|
| 31 |
-
29,158844.771153
|
| 32 |
-
30,158844.788583
|
| 33 |
-
31,158844.806027
|
| 34 |
-
32,158844.820816
|
| 35 |
-
33,158844.837393
|
| 36 |
-
34,158844.853784
|
| 37 |
-
35,158844.870806
|
| 38 |
-
36,158844.888344
|
| 39 |
-
37,158844.904942
|
| 40 |
-
38,158844.920577
|
| 41 |
-
39,158844.937063
|
| 42 |
-
40,158844.953558
|
| 43 |
-
41,158844.971243
|
| 44 |
-
42,158844.987976
|
| 45 |
-
43,158845.005928
|
| 46 |
-
44,158845.02197
|
| 47 |
-
45,158845.037331
|
| 48 |
-
46,158845.053718
|
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|
multi_sessions_20251119_183028/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:321f28e0801dccd3edd799fc5481dc5000ecc5bb1d5d739b31df57b159a68daa
|
| 3 |
-
size 4199857
|
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|
multi_sessions_20251119_183028/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183028/session_002/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 158844.289977s
|
| 6 |
-
Vive 第一帧时间戳: 1763548250.172451s
|
| 7 |
-
计算的 offset: -1763389405.882474s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.882474
|
| 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 18:31:00
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
|
|
|
|
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|
multi_sessions_20251119_183028/session_002/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183028/session_003/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1565 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
158863.274577,87.88536321046547
|
| 3 |
-
158863.280619,87.88536321046547
|
| 4 |
-
158863.284658,87.89442053851148
|
| 5 |
-
158863.289558,87.89442053851148
|
| 6 |
-
158863.29501,87.89442053851148
|
| 7 |
-
158863.300232,87.89442053851148
|
| 8 |
-
158863.304563,87.89442053851148
|
| 9 |
-
158863.30961,87.88536321046547
|
| 10 |
-
158863.315697,87.88536321046547
|
| 11 |
-
158863.319532,87.88536321046547
|
| 12 |
-
158863.324783,87.89442053851148
|
| 13 |
-
158863.329785,87.89442053851148
|
| 14 |
-
158863.335375,87.88536321046547
|
| 15 |
-
158863.339747,87.88536321046547
|
| 16 |
-
158863.344952,87.88536321046547
|
| 17 |
-
158863.350283,87.88536321046547
|
| 18 |
-
158863.354563,87.88536321046547
|
| 19 |
-
158863.359539,87.88536321046547
|
| 20 |
-
158863.364744,87.88536321046547
|
| 21 |
-
158863.369541,87.88536321046547
|
| 22 |
-
158863.37458,87.88536321046547
|
| 23 |
-
158863.379722,87.88536321046547
|
| 24 |
-
158863.384718,87.88536321046547
|
| 25 |
-
158863.38956,87.87630492230221
|
| 26 |
-
158863.395142,87.87630492230221
|
| 27 |
-
158863.399681,87.88536321046547
|
| 28 |
-
158863.404534,87.88536321046547
|
| 29 |
-
158863.409538,87.89442053851148
|
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158870.494491,86.9198646061935
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158870.499011,86.9290230614008
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158870.503979,86.9290230614008
|
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158870.508949,86.9290230614008
|
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158870.514046,86.9198646061935
|
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158870.518945,86.9198646061935
|
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158870.524,86.9198646061935
|
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158870.528987,86.9290230614008
|
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158870.533952,86.9290230614008
|
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158870.53895,86.9290230614008
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158870.544389,86.9290230614008
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158870.548947,86.9290230614008
|
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158870.553954,86.9290230614008
|
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158870.559049,86.9198646061935
|
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158870.564168,86.9198646061935
|
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158870.568954,86.9198646061935
|
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158870.573989,86.9290230614008
|
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158870.581439,86.9290230614008
|
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158870.58476,86.9290230614008
|
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158870.589015,86.9290230614008
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158870.595294,86.9290230614008
|
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158870.59896,86.9290230614008
|
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158870.603955,86.9290230614008
|
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158870.609279,86.9290230614008
|
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158870.614219,86.9290230614008
|
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158870.623936,86.9290230614008
|
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158870.629328,86.9290230614008
|
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158870.634074,86.9290230614008
|
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158870.658934,86.9290230614008
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|
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158870.668957,86.9290230614008
|
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158870.674006,86.9290230614008
|
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|
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158870.684747,86.9290230614008
|
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158870.68899,86.9290230614008
|
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158870.694025,86.9290230614008
|
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158870.698937,86.93818056868787
|
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158870.703982,86.93818056868787
|
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158870.70894,86.93818056868787
|
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158870.714284,86.9290230614008
|
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158870.718931,86.9290230614008
|
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158870.724386,86.9290230614008
|
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158870.729209,86.9290230614008
|
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158870.733939,86.93818056868787
|
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158870.738936,86.93818056868787
|
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158870.744264,86.93818056868787
|
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158870.74929,86.9290230614008
|
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158870.75416,86.9290230614008
|
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158870.758934,86.93818056868787
|
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158870.764143,86.93818056868787
|
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158870.768938,86.93818056868787
|
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158870.773943,86.93818056868787
|
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158870.781548,86.9290230614008
|
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158870.784816,86.93818056868787
|
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158870.789182,86.9290230614008
|
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158870.795337,86.9290230614008
|
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158870.799435,86.93818056868787
|
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158870.803938,86.93818056868787
|
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158870.808941,86.93818056868787
|
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158870.814691,86.93818056868787
|
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158870.818933,86.93818056868787
|
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158870.823975,86.93818056868787
|
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158870.830287,86.93818056868787
|
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158870.833987,86.93818056868787
|
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158870.839004,86.93818056868787
|
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158870.843952,86.93818056868787
|
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158870.848974,86.93818056868787
|
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158870.853917,86.93818056868787
|
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158870.859477,86.93818056868787
|
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158870.864516,86.93818056868787
|
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158870.868917,86.94733712793791
|
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158870.874486,86.93818056868787
|
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158870.8791,86.94733712793791
|
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158870.884277,86.94733712793791
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158870.888907,86.94733712793791
|
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158870.896344,86.94733712793791
|
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158870.899804,86.94733712793791
|
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158870.903921,86.94733712793791
|
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158870.908919,86.94733712793791
|
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158870.914325,86.94733712793791
|
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158870.918911,86.94733712793791
|
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158870.923993,86.94733712793791
|
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158870.929076,86.94733712793791
|
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158870.933919,86.94733712793791
|
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158870.938913,86.93818056868787
|
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158870.944065,86.94733712793791
|
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158870.948928,86.94733712793791
|
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158870.95396,86.94733712793791
|
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158870.959008,86.94733712793791
|
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158870.964343,86.94733712793791
|
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158870.968933,86.94733712793791
|
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158870.974339,86.95649273903416
|
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158870.979052,86.95649273903416
|
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158870.984084,86.95649273903416
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158870.988922,86.94733712793791
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158871.018903,86.94733712793791
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158871.064341,86.95649273903416
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158871.068878,86.95649273903416
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158871.074333,86.96564740185984
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158871.078951,86.96564740185984
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158871.083923,86.96564740185984
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158871.088875,86.95649273903416
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multi_sessions_20251119_183028/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1564 +0,0 @@
|
|
| 1 |
-
158863.274577000 87.88536321046547
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| 2 |
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158863.280619000 87.88536321046547
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158863.300232000 87.89442053851148
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158863.324783000 87.89442053851148
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158863.350283000 87.88536321046547
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158863.354563000 87.88536321046547
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158863.369541000 87.88536321046547
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158863.374580000 87.88536321046547
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158863.379722000 87.88536321046547
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158863.384718000 87.88536321046547
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158863.389560000 87.87630492230221
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| 25 |
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158863.395142000 87.87630492230221
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| 26 |
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158863.399681000 87.88536321046547
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158863.404534000 87.88536321046547
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158863.409538000 87.89442053851148
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158863.416608000 87.89442053851148
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158863.420346000 87.89442053851148
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158863.431982000 87.88536321046547
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158863.435367000 87.88536321046547
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158863.449776000 87.88536321046547
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158863.454544000 87.88536321046547
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158863.459525000 87.88536321046547
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158863.464662000 87.88536321046547
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158863.469559000 87.88536321046547
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158863.474646000 87.88536321046547
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| 42 |
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158863.481671000 87.88536321046547
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158863.485355000 87.89442053851148
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158863.490254000 87.88536321046547
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158863.494608000 87.88536321046547
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158863.499866000 87.88536321046547
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158863.504545000 87.88536321046547
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| 48 |
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158863.509541000 87.88536321046547
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158863.515637000 87.88536321046547
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158863.519510000 87.88536321046547
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| 51 |
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158863.524952000 87.88536321046547
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158863.529577000 87.88536321046547
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| 53 |
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158863.539510000 87.88536321046547
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| 55 |
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158863.544856000 87.89442053851148
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158863.550269000 87.89442053851148
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158863.554514000 87.89442053851148
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158863.560029000 87.89442053851148
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158863.564557000 87.89442053851148
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158863.569535000 87.89442053851148
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158863.589507000 87.88536321046547
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158863.594547000 87.88536321046547
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158863.599651000 87.89442053851148
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158863.604511000 87.88536321046547
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158863.616615000 87.88536321046547
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158863.620321000 87.88536321046547
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158863.624644000 87.88536321046547
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158863.631951000 87.88536321046547
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158863.635347000 87.88536321046547
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158863.639734000 87.89442053851148
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158863.644561000 87.89442053851148
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158863.659508000 87.88536321046547
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158863.664724000 87.88536321046547
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158863.679537000 87.88536321046547
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158863.694709000 87.88536321046547
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158863.704517000 87.88536321046547
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158863.714692000 87.88536321046547
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158863.719492000 87.89442053851148
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158863.724926000 87.89442053851148
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158863.735202000 87.89442053851148
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158863.750098000 87.89442053851148
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158863.774504000 87.89442053851148
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158863.794690000 87.89442053851148
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158863.816630000 87.88536321046547
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multi_sessions_20251119_183028/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: 781
|
| 19 |
-
均值融合 (都低速): 781
|
| 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 18:31:18
|
| 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_183028/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183028/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183028/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,470 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158863.266254
|
| 3 |
-
1,158863.283066
|
| 4 |
-
2,158863.299514
|
| 5 |
-
3,158863.31518
|
| 6 |
-
4,158863.333153
|
| 7 |
-
5,158863.349539
|
| 8 |
-
6,158863.365995
|
| 9 |
-
7,158863.383303
|
| 10 |
-
8,158863.399746
|
| 11 |
-
9,158863.416
|
| 12 |
-
10,158863.432761
|
| 13 |
-
11,158863.449052
|
| 14 |
-
12,158863.466299
|
| 15 |
-
13,158863.482011
|
| 16 |
-
14,158863.498542
|
| 17 |
-
15,158863.515129
|
| 18 |
-
16,158863.533128
|
| 19 |
-
17,158863.54948
|
| 20 |
-
18,158863.566
|
| 21 |
-
19,158863.583185
|
| 22 |
-
20,158863.599715
|
| 23 |
-
21,158863.615984
|
| 24 |
-
22,158863.63273
|
| 25 |
-
23,158863.649234
|
| 26 |
-
24,158863.666242
|
| 27 |
-
25,158863.682961
|
| 28 |
-
26,158863.698679
|
| 29 |
-
27,158863.715075
|
| 30 |
-
28,158863.733093
|
| 31 |
-
29,158863.749385
|
| 32 |
-
30,158863.766082
|
| 33 |
-
31,158863.781776
|
| 34 |
-
32,158863.799554
|
| 35 |
-
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|
| 36 |
-
34,158863.832689
|
| 37 |
-
35,158863.848933
|
| 38 |
-
36,158863.86619
|
| 39 |
-
37,158863.883028
|
| 40 |
-
38,158863.899214
|
| 41 |
-
39,158863.915016
|
| 42 |
-
40,158863.932947
|
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-
41,158863.949219
|
| 44 |
-
42,158863.966184
|
| 45 |
-
43,158863.98174
|
| 46 |
-
44,158863.999591
|
| 47 |
-
45,158864.01602
|
| 48 |
-
46,158864.032674
|
| 49 |
-
47,158864.048975
|
| 50 |
-
48,158864.0651
|
| 51 |
-
49,158864.082772
|
| 52 |
-
50,158864.099323
|
| 53 |
-
51,158864.115
|
| 54 |
-
52,158864.132902
|
| 55 |
-
53,158864.1491
|
| 56 |
-
54,158864.165896
|
| 57 |
-
55,158864.182814
|
| 58 |
-
56,158864.199631
|
| 59 |
-
57,158864.215971
|
| 60 |
-
58,158864.232515
|
| 61 |
-
59,158864.248981
|
| 62 |
-
60,158864.265094
|
| 63 |
-
61,158864.282631
|
| 64 |
-
62,158864.299167
|
| 65 |
-
63,158864.315596
|
| 66 |
-
64,158864.333022
|
| 67 |
-
65,158864.348991
|
| 68 |
-
66,158864.365113
|
| 69 |
-
67,158864.382418
|
| 70 |
-
68,158864.398431
|
| 71 |
-
69,158864.415017
|
| 72 |
-
70,158864.432635
|
| 73 |
-
71,158864.448965
|
| 74 |
-
72,158864.464959
|
| 75 |
-
73,158864.482588
|
| 76 |
-
74,158864.499331
|
| 77 |
-
75,158864.514961
|
| 78 |
-
76,158864.532444
|
| 79 |
-
77,158864.549068
|
| 80 |
-
78,158864.565899
|
| 81 |
-
79,158864.582722
|
| 82 |
-
80,158864.59912
|
| 83 |
-
81,158864.614811
|
| 84 |
-
82,158864.632636
|
| 85 |
-
83,158864.64905
|
| 86 |
-
84,158864.66497
|
| 87 |
-
85,158864.682354
|
| 88 |
-
86,158864.699221
|
| 89 |
-
87,158864.715723
|
| 90 |
-
88,158864.733048
|
| 91 |
-
89,158864.748576
|
| 92 |
-
90,158864.766002
|
| 93 |
-
91,158864.781637
|
| 94 |
-
92,158864.798481
|
| 95 |
-
93,158864.814766
|
| 96 |
-
94,158864.832762
|
| 97 |
-
95,158864.84924
|
| 98 |
-
96,158864.865005
|
| 99 |
-
97,158864.88226
|
| 100 |
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98,158864.899227
|
| 101 |
-
99,158864.914897
|
| 102 |
-
100,158864.932322
|
| 103 |
-
101,158864.950053
|
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-
102,158864.966136
|
| 105 |
-
103,158864.981714
|
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104,158864.99826
|
| 107 |
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105,158865.014771
|
| 108 |
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106,158865.032735
|
| 109 |
-
107,158865.048898
|
| 110 |
-
108,158865.065777
|
| 111 |
-
109,158865.081441
|
| 112 |
-
110,158865.098305
|
| 113 |
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111,158865.114952
|
| 114 |
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112,158865.132561
|
| 115 |
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113,158865.1489
|
| 116 |
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114,158865.166223
|
| 117 |
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115,158865.181745
|
| 118 |
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116,158865.198134
|
| 119 |
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117,158865.21474
|
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-
118,158865.232668
|
| 121 |
-
119,158865.248973
|
| 122 |
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120,158865.265796
|
| 123 |
-
121,158865.281475
|
| 124 |
-
122,158865.298269
|
| 125 |
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123,158865.315542
|
| 126 |
-
124,158865.331538
|
| 127 |
-
125,158865.348572
|
| 128 |
-
126,158865.366061
|
| 129 |
-
127,158865.38265
|
| 130 |
-
128,158865.398927
|
| 131 |
-
129,158865.414706
|
| 132 |
-
130,158865.432627
|
| 133 |
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131,158865.448925
|
| 134 |
-
132,158865.465987
|
| 135 |
-
133,158865.481445
|
| 136 |
-
134,158865.498124
|
| 137 |
-
135,158865.517236
|
| 138 |
-
136,158865.532552
|
| 139 |
-
137,158865.548755
|
| 140 |
-
138,158865.566258
|
| 141 |
-
139,158865.581545
|
| 142 |
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140,158865.598182
|
| 143 |
-
141,158865.614653
|
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142,158865.632624
|
| 145 |
-
143,158865.648919
|
| 146 |
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144,158865.666211
|
| 147 |
-
145,158865.681419
|
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multi_sessions_20251119_183028/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:aa4bdfeccfb2de974af9054f0088d99248bb477d58b28612f29875d812ab8af7
|
| 3 |
-
size 3841569
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|
multi_sessions_20251119_183028/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183028/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: 158863.275981s
|
| 6 |
-
Vive 第一帧时间戳: 1763548269.162479s
|
| 7 |
-
计算的 offset: -1763389405.886498s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.886498
|
| 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 18:31:18
|
| 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_183028/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_183028/session_004/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1446 +0,0 @@
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| 1 |
-
timestamp,clamp
|
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158880.878509,87.44038025972274
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|
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|
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|
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|
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|
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|
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|
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multi_sessions_20251119_183028/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1445 +0,0 @@
|
|
| 1 |
-
158880.878509000 87.44038025972274
|
| 2 |
-
158880.882999000 87.44038025972274
|
| 3 |
-
158880.887996000 87.44038025972274
|
| 4 |
-
158880.895484000 87.44038025972274
|
| 5 |
-
158880.898855000 87.44948449742859
|
| 6 |
-
158880.903460000 87.44948449742859
|
| 7 |
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158880.908059000 87.44948449742859
|
| 8 |
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158880.913007000 87.44948449742859
|
| 9 |
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158880.918048000 87.44948449742859
|
| 10 |
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158880.923545000 87.44038025972274
|
| 11 |
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158880.928581000 87.44038025972274
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| 12 |
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158880.933005000 87.44038025972274
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| 13 |
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158880.939038000 87.44038025972274
|
| 14 |
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158880.943161000 87.44038025972274
|
| 15 |
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158880.947998000 87.44948449742859
|
| 16 |
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158880.953004000 87.44948449742859
|
| 17 |
-
158880.958275000 87.44948449742859
|
| 18 |
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158880.963523000 87.44948449742859
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| 19 |
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158880.968010000 87.44038025972274
|
| 20 |
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158880.973010000 87.44038025972274
|
| 21 |
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158880.978158000 87.44038025972274
|
| 22 |
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158880.982998000 87.44948449742859
|
| 23 |
-
158880.987994000 87.44038025972274
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| 24 |
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158880.995904000 87.44038025972274
|
| 25 |
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158880.998834000 87.44038025972274
|
| 26 |
-
158881.003264000 87.44038025972274
|
| 27 |
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158881.008035000 87.44038025972274
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| 28 |
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158881.014184000 87.44038025972274
|
| 29 |
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158881.017968000 87.44038025972274
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| 30 |
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158881.023070000 87.44948449742859
|
| 31 |
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158881.028734000 87.44948449742859
|
| 32 |
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158881.032982000 87.44948449742859
|
| 33 |
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158881.038034000 87.44038025972274
|
| 34 |
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158881.043062000 87.44038025972274
|
| 35 |
-
158881.047970000 87.44948449742859
|
| 36 |
-
158881.052977000 87.44038025972274
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| 37 |
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158881.060088000 87.44038025972274
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| 38 |
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158881.063826000 87.44038025972274
|
| 39 |
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158881.068312000 87.44038025972274
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| 40 |
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158881.072993000 87.44038025972274
|
| 41 |
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158881.078037000 87.44038025972274
|
| 42 |
-
158881.082968000 87.44038025972274
|
| 43 |
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158881.087968000 87.44038025972274
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| 44 |
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158881.095451000 87.44038025972274
|
| 45 |
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158881.098831000 87.44038025972274
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| 46 |
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158881.103525000 87.44038025972274
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| 47 |
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158881.108504000 87.44038025972274
|
| 48 |
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158881.113722000 87.44038025972274
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| 49 |
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158881.117969000 87.44038025972274
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| 50 |
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158881.123474000 87.44038025972274
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| 51 |
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158881.128437000 87.44038025972274
|
| 52 |
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158881.133047000 87.44948449742859
|
| 53 |
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158881.137976000 87.44038025972274
|
| 54 |
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158881.143058000 87.44038025972274
|
| 55 |
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158881.147969000 87.44038025972274
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| 56 |
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158881.152977000 87.44948449742859
|
| 57 |
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158881.159935000 87.44948449742859
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| 58 |
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158881.163551000 87.44948449742859
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| 59 |
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158881.168686000 87.44038025972274
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| 60 |
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158881.172985000 87.44038025972274
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158881.178309000 87.44038025972274
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| 62 |
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158881.182975000 87.44948449742859
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| 63 |
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158881.187968000 87.44948449742859
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| 64 |
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158881.195558000 87.44948449742859
|
| 65 |
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158881.198792000 87.44948449742859
|
| 66 |
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158881.203436000 87.44038025972274
|
| 67 |
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158881.210843000 87.44948449742859
|
| 68 |
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158881.213900000 87.44948449742859
|
| 69 |
-
158881.217968000 87.44948449742859
|
| 70 |
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158881.223129000 87.44038025972274
|
| 71 |
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158881.228692000 87.44038025972274
|
| 72 |
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158881.232961000 87.44038025972274
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| 73 |
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158881.238007000 87.44038025972274
|
| 74 |
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158881.242998000 87.44038025972274
|
| 75 |
-
158881.247952000 87.44948449742859
|
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158881.252956000 87.44038025972274
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| 77 |
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158881.260434000 87.44038025972274
|
| 78 |
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158881.263768000 87.43127506757487
|
| 79 |
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158881.267957000 87.44038025972274
|
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158881.273041000 87.44038025972274
|
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158881.278076000 87.44038025972274
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158881.282947000 87.44038025972274
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158881.287968000 87.44038025972274
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| 84 |
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158881.295464000 87.44948449742859
|
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158881.298763000 87.44948449742859
|
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158881.303599000 87.44948449742859
|
| 87 |
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158881.308274000 87.44038025972274
|
| 88 |
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158881.314773000 87.44038025972274
|
| 89 |
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158881.317947000 87.44038025972274
|
| 90 |
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158881.323570000 87.44038025972274
|
| 91 |
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158881.328427000 87.44038025972274
|
| 92 |
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158881.332997000 87.44038025972274
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| 93 |
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158881.337956000 87.44038025972274
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158881.343071000 87.44038025972274
|
| 95 |
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158881.347951000 87.44948449742859
|
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158881.352963000 87.44038025972274
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158881.359793000 87.44038025972274
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158881.363180000 87.44038025972274
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| 99 |
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158881.368396000 87.44038025972274
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158881.373038000 87.44948449742859
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158881.378091000 87.44038025972274
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158881.382975000 87.44038025972274
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158881.395739000 87.44948449742859
|
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158881.398773000 87.44948449742859
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158881.402961000 87.44948449742859
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158881.408422000 87.44948449742859
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158881.413719000 87.44038025972274
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158881.417980000 87.44038025972274
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158881.423393000 87.44038025972274
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158881.428718000 87.44038025972274
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158881.432957000 87.44948449742859
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158881.437929000 87.44038025972274
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158881.473017000 87.44038025972274
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158881.477960000 87.44038025972274
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158881.482920000 87.44948449742859
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158881.487921000 87.44038025972274
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158881.495585000 87.44038025972274
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158881.498740000 87.44038025972274
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158881.503688000 87.44038025972274
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158881.508001000 87.44038025972274
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| 128 |
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158881.513822000 87.43127506757487
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158881.517920000 87.43127506757487
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158881.523461000 87.43127506757487
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158881.528352000 87.43127506757487
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158881.532937000 87.44038025972274
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158881.547923000 87.44948449742859
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158881.552930000 87.44948449742859
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158881.559928000 87.44948449742859
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158881.563797000 87.44038025972274
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158881.568419000 87.44948449742859
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158881.587922000 87.44038025972274
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158881.595560000 87.44038025972274
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| 1355 |
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158887.647511000 87.45858778057632
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| 1356 |
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158887.652532000 87.45858778057632
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| 1357 |
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158887.659971000 87.45858778057632
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| 1358 |
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158887.663317000 87.45858778057632
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| 1359 |
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158887.668456000 87.45858778057632
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| 1360 |
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158887.672510000 87.45858778057632
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| 1361 |
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158887.677590000 87.46769010904983
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| 1362 |
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158887.682495000 87.46769010904983
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| 1363 |
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158887.687497000 87.46769010904983
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| 1364 |
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158887.693103000 87.45858778057632
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| 1365 |
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158887.697501000 87.45858778057632
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| 1366 |
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158887.702648000 87.45858778057632
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| 1367 |
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158887.709515000 87.45858778057632
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| 1368 |
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158887.713329000 87.45858778057632
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| 1369 |
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158887.717648000 87.45858778057632
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| 1370 |
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158887.722536000 87.45858778057632
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158887.727592000 87.45858778057632
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158887.732560000 87.45858778057632
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| 1373 |
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158887.738128000 87.45858778057632
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158887.742725000 87.45858778057632
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158887.747490000 87.45858778057632
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158887.752508000 87.45858778057632
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158887.759875000 87.45858778057632
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158887.763304000 87.45858778057632
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| 1379 |
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158887.768169000 87.45858778057632
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| 1380 |
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158887.772693000 87.45858778057632
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158887.777485000 87.45858778057632
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158887.782486000 87.45858778057632
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| 1383 |
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158887.787482000 87.45858778057632
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| 1384 |
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158887.793783000 87.46769010904983
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| 1385 |
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158887.797493000 87.45858778057632
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| 1386 |
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158887.802557000 87.45858778057632
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| 1387 |
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158887.809894000 87.46769010904983
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| 1388 |
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158887.813345000 87.46769010904983
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| 1389 |
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158887.817532000 87.476791482733
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| 1390 |
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158887.822632000 87.476791482733
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158887.827713000 87.476791482733
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158887.832515000 87.476791482733
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158887.837663000 87.476791482733
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158887.842611000 87.476791482733
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| 1395 |
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158887.847518000 87.476791482733
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| 1396 |
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158887.852494000 87.476791482733
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| 1397 |
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158887.859915000 87.476791482733
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| 1398 |
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158887.863309000 87.476791482733
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| 1399 |
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158887.868380000 87.48589190150977
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| 1400 |
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158887.872496000 87.48589190150977
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| 1401 |
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158887.877497000 87.48589190150977
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| 1402 |
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158887.882485000 87.476791482733
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| 1403 |
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158887.887484000 87.476791482733
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| 1404 |
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158887.893201000 87.476791482733
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| 1405 |
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158887.897508000 87.476791482733
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| 1406 |
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158887.902559000 87.476791482733
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| 1407 |
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158887.909524000 87.48589190150977
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| 1408 |
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158887.913308000 87.48589190150977
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| 1409 |
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158887.917697000 87.48589190150977
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| 1410 |
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158887.922509000 87.476791482733
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| 1411 |
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158887.927601000 87.48589190150977
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| 1412 |
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158887.932602000 87.48589190150977
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| 1413 |
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158887.938891000 87.48589190150977
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| 1414 |
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158887.942711000 87.476791482733
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| 1415 |
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158887.947469000 87.476791482733
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| 1416 |
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158887.952486000 87.476791482733
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| 1417 |
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158887.959601000 87.476791482733
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| 1418 |
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158887.963286000 87.476791482733
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| 1419 |
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158887.967482000 87.476791482733
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| 1420 |
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158887.973381000 87.48589190150977
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| 1421 |
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158887.977483000 87.48589190150977
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| 1422 |
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158887.982468000 87.48589190150977
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| 1423 |
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158887.987467000 87.48589190150977
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| 1424 |
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158887.992966000 87.48589190150977
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| 1425 |
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158887.997473000 87.48589190150977
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| 1426 |
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158888.002560000 87.48589190150977
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| 1427 |
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158888.009342000 87.48589190150977
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| 1428 |
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158888.012657000 87.48589190150977
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| 1429 |
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158888.017468000 87.476791482733
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| 1430 |
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158888.022494000 87.48589190150977
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| 1431 |
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158888.027571000 87.48589190150977
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| 1432 |
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158888.032509000 87.48589190150977
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| 1433 |
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158888.038361000 87.48589190150977
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| 1434 |
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158888.042509000 87.476791482733
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| 1435 |
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158888.047471000 87.48589190150977
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| 1436 |
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158888.052481000 87.48589190150977
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| 1437 |
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158888.057760000 87.476791482733
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| 1438 |
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158888.062473000 87.476791482733
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| 1439 |
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158888.067474000 87.476791482733
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| 1440 |
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158888.072706000 87.476791482733
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| 1441 |
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158888.077518000 87.48589190150977
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| 1442 |
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158888.082467000 87.48589190150977
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| 1443 |
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158888.087468000 87.48589190150977
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| 1444 |
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158888.093792000 87.476791482733
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| 1445 |
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158888.097477000 87.48589190150977
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|
multi_sessions_20251119_183028/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: 721
|
| 19 |
-
均值融合 (都低速): 721
|
| 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 18:31:35
|
| 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_183028/session_004/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_183028/session_004/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_183028/session_004/RGB_Images/timestamps.csv
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|
multi_sessions_20251119_183028/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:e8f519ef215aca8c2ba3049cfa58bf9b7a74e146197451296167a86009a8291d
|
| 3 |
-
size 3697119
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|
multi_sessions_20251119_183028/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183028/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: 158880.877985s
|
| 6 |
-
Vive 第一帧时间戳: 1763548286.762522s
|
| 7 |
-
计算的 offset: -1763389405.884537s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.884537
|
| 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 18:31:35
|
| 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_183028/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_183028/session_005/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1746 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
158897.546748,87.80380406664018
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| 3 |
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158897.552101,87.80380406664018
|
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158897.556697,87.80380406664018
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158897.561668,87.80380406664018
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158897.566667,87.7947371426217
|
| 7 |
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158897.574679,87.80380406664018
|
| 8 |
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158897.578469,87.80380406664018
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158897.581713,87.80380406664018
|
| 10 |
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158897.587298,87.80380406664018
|
| 11 |
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158897.592948,87.80380406664018
|
| 12 |
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158897.596701,87.80380406664018
|
| 13 |
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158897.601699,87.80380406664018
|
| 14 |
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158897.607909,87.80380406664018
|
| 15 |
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158897.611688,87.80380406664018
|
| 16 |
-
158897.617358,87.80380406664018
|
| 17 |
-
158897.622024,87.80380406664018
|
| 18 |
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158897.626673,87.80380406664018
|
| 19 |
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158897.632038,87.80380406664018
|
| 20 |
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158897.636707,87.80380406664018
|
| 21 |
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158897.642185,87.80380406664018
|
| 22 |
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158897.646934,87.80380406664018
|
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158897.651674,87.80380406664018
|
| 24 |
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158897.657983,87.80380406664018
|
| 25 |
-
158897.661667,87.80380406664018
|
| 26 |
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158897.666671,87.8128700315816
|
| 27 |
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|
| 28 |
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| 29 |
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158897.681707,87.80380406664018
|
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158897.68671,87.80380406664018
|
| 31 |
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|
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|
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|
| 34 |
-
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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158897.726651,87.80380406664018
|
| 39 |
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158897.731892,87.80380406664018
|
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|
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|
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|
| 43 |
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158897.75205,87.80380406664018
|
| 44 |
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158897.756714,87.80380406664018
|
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158906.251167,87.46769010904983
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| 1744 |
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158906.257353,87.46769010904983
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| 1745 |
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158906.260951,87.46769010904983
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| 1746 |
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158906.265953,87.476791482733
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|
multi_sessions_20251119_183028/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1745 +0,0 @@
|
|
| 1 |
-
158897.546748000 87.80380406664018
|
| 2 |
-
158897.552101000 87.80380406664018
|
| 3 |
-
158897.556697000 87.80380406664018
|
| 4 |
-
158897.561668000 87.80380406664018
|
| 5 |
-
158897.566667000 87.7947371426217
|
| 6 |
-
158897.574679000 87.80380406664018
|
| 7 |
-
158897.578469000 87.80380406664018
|
| 8 |
-
158897.581713000 87.80380406664018
|
| 9 |
-
158897.587298000 87.80380406664018
|
| 10 |
-
158897.592948000 87.80380406664018
|
| 11 |
-
158897.596701000 87.80380406664018
|
| 12 |
-
158897.601699000 87.80380406664018
|
| 13 |
-
158897.607909000 87.80380406664018
|
| 14 |
-
158897.611688000 87.80380406664018
|
| 15 |
-
158897.617358000 87.80380406664018
|
| 16 |
-
158897.622024000 87.80380406664018
|
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158906.091367000 87.46769010904983
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| 1711 |
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158906.096146000 87.46769010904983
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| 1712 |
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158906.100967000 87.46769010904983
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| 1713 |
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158906.106356000 87.46769010904983
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| 1714 |
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158906.110969000 87.46769010904983
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| 1715 |
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158906.116941000 87.46769010904983
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| 1716 |
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158906.121204000 87.46769010904983
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| 1717 |
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158906.125965000 87.476791482733
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| 1718 |
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158906.131065000 87.46769010904983
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| 1719 |
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158906.138670000 87.46769010904983
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| 1720 |
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158906.141771000 87.46769010904983
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| 1721 |
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158906.145958000 87.46769010904983
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| 1722 |
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158906.152272000 87.46769010904983
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| 1723 |
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158906.156261000 87.46769010904983
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| 1724 |
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158906.161032000 87.46769010904983
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| 1725 |
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158906.165963000 87.46769010904983
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| 1726 |
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158906.172613000 87.46769010904983
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| 1727 |
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158906.175962000 87.46769010904983
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158906.181088000 87.46769010904983
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158906.187899000 87.46769010904983
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| 1730 |
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158906.191366000 87.46769010904983
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| 1731 |
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158906.195999000 87.46769010904983
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| 1732 |
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158906.200982000 87.46769010904983
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| 1733 |
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158906.205961000 87.46769010904983
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| 1734 |
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158906.211056000 87.46769010904983
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| 1735 |
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158906.216112000 87.46769010904983
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158906.221045000 87.46769010904983
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158906.226015000 87.476791482733
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158906.230964000 87.476791482733
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| 1739 |
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158906.238271000 87.476791482733
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| 1740 |
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158906.241753000 87.476791482733
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| 1741 |
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158906.245979000 87.476791482733
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| 1742 |
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158906.251167000 87.46769010904983
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| 1743 |
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158906.257353000 87.46769010904983
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| 1744 |
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158906.260951000 87.46769010904983
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| 1745 |
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158906.265953000 87.476791482733
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multi_sessions_20251119_183028/session_005/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: 872
|
| 19 |
-
均值融合 (都低速): 872
|
| 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 18:31:54
|
| 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_183028/session_005/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_183028/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
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The diff for this file is too large to render.
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multi_sessions_20251119_183028/session_005/RGB_Images/timestamps.csv
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frame_index,timestamp
|
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|
multi_sessions_20251119_183028/session_005/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:e853b370cbfff549599e451d34479025732d7480a23f38340dcf54e0764b4406
|
| 3 |
-
size 4378865
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multi_sessions_20251119_183028/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183028/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: 158897.547981s
|
| 6 |
-
Vive 第一帧时间戳: 1763548303.432498s
|
| 7 |
-
计算的 offset: -1763389405.884517s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.884517
|
| 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 18:31:54
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
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