Delete multi_sessions_20251119_181913
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- multi_sessions_20251119_181913/collection_summary.txt +0 -93
- multi_sessions_20251119_181913/session_001/Clamp_Data/clamp.csv +0 -1485
- multi_sessions_20251119_181913/session_001/Clamp_Data/clamp_data_tum.txt +0 -1484
- multi_sessions_20251119_181913/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181913/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181913/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181913/session_001/RGB_Images/timestamps.csv +0 -446
- multi_sessions_20251119_181913/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181913/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181913/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181913/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181913/session_002/Clamp_Data/clamp.csv +0 -1526
- multi_sessions_20251119_181913/session_002/Clamp_Data/clamp_data_tum.txt +0 -1525
- multi_sessions_20251119_181913/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181913/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181913/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181913/session_002/RGB_Images/timestamps.csv +0 -459
- multi_sessions_20251119_181913/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181913/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181913/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181913/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181913/session_003/Clamp_Data/clamp.csv +0 -1524
- multi_sessions_20251119_181913/session_003/Clamp_Data/clamp_data_tum.txt +0 -1523
- multi_sessions_20251119_181913/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181913/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181913/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181913/session_003/RGB_Images/timestamps.csv +0 -458
- multi_sessions_20251119_181913/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181913/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181913/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181913/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181913/session_004/Clamp_Data/clamp.csv +0 -1553
- multi_sessions_20251119_181913/session_004/Clamp_Data/clamp_data_tum.txt +0 -1552
- multi_sessions_20251119_181913/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181913/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181913/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181913/session_004/RGB_Images/timestamps.csv +0 -466
- multi_sessions_20251119_181913/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181913/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181913/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181913/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181913/session_005/Clamp_Data/clamp.csv +0 -1592
- multi_sessions_20251119_181913/session_005/Clamp_Data/clamp_data_tum.txt +0 -1591
- multi_sessions_20251119_181913/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181913/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181913/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181913/session_005/RGB_Images/timestamps.csv +0 -478
- multi_sessions_20251119_181913/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181913/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181913/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_181913/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 18:19:14 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_181913
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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 18:19:14 CST
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输出目录: ./multi_sessions_20251119_181913/session_001
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结束时间: 2025年 11月 19日 星期三 18:19:29 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_181913/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 18:19:33 CST
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输出目录: ./multi_sessions_20251119_181913/session_002
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结束时间: 2025年 11月 19日 星期三 18:19:49 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_181913/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 18:19:54 CST
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输出目录: ./multi_sessions_20251119_181913/session_003
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结束时间: 2025年 11月 19日 星期三 18:20:08 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_181913/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 18:20:12 CST
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输出目录: ./multi_sessions_20251119_181913/session_004
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结束时间: 2025年 11月 19日 星期三 18:20:26 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_181913/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 18:20:31 CST
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输出目录: ./multi_sessions_20251119_181913/session_005
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结束时间: 2025年 11月 19日 星期三 18:20:46 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_181913/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 18:20:46 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_181913/
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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_181913/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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|
multi_sessions_20251119_181913/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1484 +0,0 @@
|
|
| 1 |
-
158152.051562000 87.58593345104586
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| 2 |
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158152.056045000 87.58593345104586
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| 3 |
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158152.060897000 87.58593345104586
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158152.068630000 87.58593345104586
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158152.075881000 87.58593345104586
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158152.080900000 87.59502240189622
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158152.087079000 87.59502240189622
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158152.090887000 87.58593345104586
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158152.095893000 87.58593345104586
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158152.101716000 87.58593345104586
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158152.105921000 87.58593345104586
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158152.120886000 87.58593345104586
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158152.125919000 87.58593345104586
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158152.133016000 87.59502240189622
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158152.136693000 87.58593345104586
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158152.140922000 87.59502240189622
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158152.145888000 87.58593345104586
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| 21 |
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158152.151374000 87.58593345104586
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158152.155888000 87.58593345104586
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| 23 |
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158152.160893000 87.58593345104586
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| 24 |
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158152.165898000 87.58593345104586
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| 25 |
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158152.171755000 87.59502240189622
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| 26 |
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158152.175880000 87.58593345104586
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| 27 |
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158152.180963000 87.58593345104586
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158152.186901000 87.58593345104586
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158152.190890000 87.59502240189622
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158152.195955000 87.59502240189622
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| 31 |
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158152.201715000 87.59502240189622
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| 32 |
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158152.205877000 87.59502240189622
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| 33 |
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158152.211070000 87.58593345104586
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| 34 |
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158152.216344000 87.58593345104586
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158152.220913000 87.58593345104586
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158152.226059000 87.58593345104586
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158152.234065000 87.58593345104586
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| 38 |
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158152.237522000 87.58593345104586
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158152.241012000 87.58593345104586
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| 40 |
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158152.246077000 87.58593345104586
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| 41 |
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158152.251038000 87.58593345104586
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| 42 |
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158152.255879000 87.58593345104586
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| 43 |
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158152.260886000 87.59502240189622
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| 44 |
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158152.265880000 87.58593345104586
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| 45 |
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158152.271473000 87.59502240189622
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158152.275876000 87.58593345104586
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| 47 |
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158152.280898000 87.59502240189622
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| 48 |
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158152.287089000 87.59502240189622
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| 49 |
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158152.290879000 87.59502240189622
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| 50 |
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158152.295911000 87.58593345104586
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| 51 |
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158152.301687000 87.58593345104586
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| 52 |
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158152.305881000 87.58593345104586
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| 53 |
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158152.311297000 87.58593345104586
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| 54 |
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158152.316594000 87.58593345104586
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| 55 |
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158152.320951000 87.59502240189622
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| 56 |
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158152.325919000 87.58593345104586
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| 57 |
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158152.332578000 87.59502240189622
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158152.336797000 87.58593345104586
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| 59 |
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158152.340877000 87.59502240189622
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158152.345879000 87.58593345104586
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| 61 |
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158152.351553000 87.58593345104586
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158152.355882000 87.58593345104586
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158152.360884000 87.58593345104586
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| 64 |
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158152.367028000 87.58593345104586
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| 65 |
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158152.371224000 87.58593345104586
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| 66 |
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158152.375994000 87.58593345104586
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| 67 |
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158152.380891000 87.58593345104586
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| 68 |
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158152.386170000 87.58593345104586
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| 69 |
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158152.391927000 87.58593345104586
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| 70 |
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158152.395884000 87.59502240189622
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158152.401575000 87.59502240189622
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158152.405918000 87.59502240189622
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| 73 |
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158152.410942000 87.59502240189622
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| 74 |
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158152.417526000 87.59502240189622
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158152.420931000 87.59502240189622
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| 76 |
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158152.426128000 87.59502240189622
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158152.433984000 87.59502240189622
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| 78 |
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158152.437526000 87.58593345104586
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| 79 |
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158152.440880000 87.59502240189622
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158152.445892000 87.58593345104586
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158152.451083000 87.58593345104586
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| 82 |
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158152.455883000 87.58593345104586
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| 83 |
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158152.461181000 87.58593345104586
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| 84 |
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158152.466412000 87.59502240189622
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158152.471288000 87.58593345104586
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158152.475879000 87.58593345104586
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158152.480901000 87.58593345104586
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| 88 |
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158152.487120000 87.58593345104586
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| 89 |
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158152.490884000 87.58593345104586
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158152.495893000 87.58593345104586
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| 91 |
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158152.501559000 87.58593345104586
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| 92 |
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158152.505906000 87.58593345104586
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158152.511159000 87.59502240189622
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158152.516065000 87.58593345104586
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158152.520885000 87.59502240189622
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158152.526193000 87.59502240189622
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158152.532009000 87.59502240189622
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158152.535925000 87.59502240189622
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158152.540880000 87.58593345104586
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158152.545884000 87.58593345104586
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158152.551624000 87.58593345104586
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158152.560886000 87.58593345104586
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158152.568495000 87.58593345104586
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158152.571522000 87.58593345104586
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158152.575883000 87.58593345104586
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158152.580951000 87.58593345104586
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158152.587046000 87.58593345104586
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158152.590905000 87.59502240189622
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158152.595888000 87.59502240189622
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158152.601720000 87.59502240189622
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158152.605883000 87.59502240189622
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158152.611150000 87.59502240189622
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158152.616756000 87.59502240189622
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158152.620873000 87.59502240189622
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158152.626102000 87.59502240189622
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158152.671601000 87.58593345104586
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158152.732398000 87.58593345104586
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158152.745877000 87.58593345104586
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158152.751631000 87.58593345104586
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158152.760880000 87.58593345104586
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158152.765979000 87.58593345104586
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158152.775873000 87.59502240189622
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158152.780890000 87.58593345104586
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158152.786643000 87.58593345104586
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| 149 |
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158152.790882000 87.58593345104586
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| 150 |
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158152.795881000 87.58593345104586
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158152.801502000 87.58593345104586
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158152.805908000 87.58593345104586
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158152.810885000 87.58593345104586
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158152.820876000 87.59502240189622
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158152.840887000 87.64045280761543
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158152.855879000 87.74031546436872
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158152.871455000 87.68585928849235
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158152.875874000 87.72216723757813
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158152.880884000 87.74938814042085
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158152.887202000 87.76753061726019
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158152.890876000 87.74938814042085
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158152.901644000 87.74031546436872
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158152.995918000 87.70401517864401
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| 191 |
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158158.840871000 87.54956808582004
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| 1360 |
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158158.845862000 87.54956808582004
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| 1361 |
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158158.851697000 87.54956808582004
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| 1362 |
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158158.855917000 87.55866086116826
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| 1363 |
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158158.860861000 87.54956808582004
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| 1364 |
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158158.867933000 87.54956808582004
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| 1365 |
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158158.871493000 87.54956808582004
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| 1366 |
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158158.875981000 87.54956808582004
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| 1367 |
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158158.883841000 87.54956808582004
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| 1368 |
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158158.887497000 87.54956808582004
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| 1369 |
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158158.891175000 87.54956808582004
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| 1370 |
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158158.895861000 87.54956808582004
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| 1371 |
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158158.900974000 87.54956808582004
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| 1372 |
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158158.905855000 87.54956808582004
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| 1373 |
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158158.912205000 87.54956808582004
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| 1374 |
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158158.916050000 87.54956808582004
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158158.920857000 87.54956808582004
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| 1376 |
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158158.925926000 87.54956808582004
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158158.933083000 87.54956808582004
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| 1378 |
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158158.936493000 87.54956808582004
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| 1379 |
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158158.940849000 87.54956808582004
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| 1380 |
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158158.945869000 87.54956808582004
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158158.952022000 87.55866086116826
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158158.955867000 87.54956808582004
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158158.960975000 87.55866086116826
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| 1384 |
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158158.967688000 87.54956808582004
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158158.971494000 87.55866086116826
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| 1386 |
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158158.975854000 87.55866086116826
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| 1387 |
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158158.983585000 87.55866086116826
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| 1388 |
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158158.986511000 87.54956808582004
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| 1389 |
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158158.990891000 87.54956808582004
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158158.995854000 87.55866086116826
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158159.001293000 87.55866086116826
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158159.005853000 87.55866086116826
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158159.011523000 87.55866086116826
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158159.015917000 87.55866086116826
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158159.020851000 87.55866086116826
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158159.025862000 87.55866086116826
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| 1397 |
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158159.034190000 87.55866086116826
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158159.037513000 87.55866086116826
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158159.040897000 87.55866086116826
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158159.046392000 87.55866086116826
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| 1401 |
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158159.051721000 87.55866086116826
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158159.055902000 87.55866086116826
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| 1403 |
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158159.060860000 87.55866086116826
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158159.067731000 87.55866086116826
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158159.071489000 87.55866086116826
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| 1406 |
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158159.075914000 87.55866086116826
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| 1407 |
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158159.084584000 87.55866086116826
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158159.087559000 87.55866086116826
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158159.090866000 87.55866086116826
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| 1410 |
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158159.095862000 87.55866086116826
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| 1411 |
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158159.101233000 87.55866086116826
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158159.105856000 87.55866086116826
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158159.110857000 87.55866086116826
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158159.116101000 87.55866086116826
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158159.120857000 87.55866086116826
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158159.125898000 87.55866086116826
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158159.133091000 87.55866086116826
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158159.136576000 87.55866086116826
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158159.140850000 87.55866086116826
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158159.146204000 87.56775268056596
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| 1421 |
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158159.151774000 87.56775268056596
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158159.155856000 87.56775268056596
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| 1423 |
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158159.160909000 87.56775268056596
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158159.167702000 87.56775268056596
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158159.171495000 87.56775268056596
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| 1426 |
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158159.175856000 87.55866086116826
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| 1427 |
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158159.183548000 87.56775268056596
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| 1428 |
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158159.186512000 87.56775268056596
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| 1429 |
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158159.190855000 87.56775268056596
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| 1430 |
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158159.195863000 87.55866086116826
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| 1431 |
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158159.201507000 87.55866086116826
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| 1432 |
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158159.205854000 87.55866086116826
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158159.210952000 87.55866086116826
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158159.216598000 87.55866086116826
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158159.220863000 87.55866086116826
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158159.225861000 87.55866086116826
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| 1437 |
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158159.233322000 87.56775268056596
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158159.236497000 87.56775268056596
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| 1439 |
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158159.240850000 87.55866086116826
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158159.246405000 87.55866086116826
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158159.251823000 87.56775268056596
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158159.255856000 87.56775268056596
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158159.260865000 87.56775268056596
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158159.267728000 87.56775268056596
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158159.271493000 87.56775268056596
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158159.275855000 87.56775268056596
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158159.284759000 87.55866086116826
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158159.288499000 87.56775268056596
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158159.291494000 87.56775268056596
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158159.295863000 87.56775268056596
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158159.301270000 87.56775268056596
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158159.305870000 87.56775268056596
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158159.310850000 87.56775268056596
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| 1454 |
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158159.315939000 87.56775268056596
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158159.320849000 87.56775268056596
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158159.325903000 87.55866086116826
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158159.333225000 87.55866086116826
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158159.336489000 87.56775268056596
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158159.340852000 87.56775268056596
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158159.345857000 87.56775268056596
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158159.351892000 87.56775268056596
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| 1462 |
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158159.355856000 87.56775268056596
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| 1463 |
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158159.360916000 87.56775268056596
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| 1464 |
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158159.367829000 87.56775268056596
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| 1465 |
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158159.371484000 87.56775268056596
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| 1466 |
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158159.375879000 87.56775268056596
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| 1467 |
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158159.383769000 87.56775268056596
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158159.387547000 87.56775268056596
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158159.390959000 87.56775268056596
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158159.395851000 87.56775268056596
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158159.401183000 87.56775268056596
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| 1472 |
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158159.405846000 87.56775268056596
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| 1473 |
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158159.411351000 87.56775268056596
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158159.416024000 87.57684354389714
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| 1475 |
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158159.420879000 87.57684354389714
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158159.425947000 87.57684354389714
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158159.433301000 87.57684354389714
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158159.436492000 87.57684354389714
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158159.440845000 87.57684354389714
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| 1480 |
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158159.446478000 87.57684354389714
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| 1481 |
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158159.451917000 87.57684354389714
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| 1482 |
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158159.455936000 87.57684354389714
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| 1483 |
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158159.460851000 87.57684354389714
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| 1484 |
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158159.467725000 87.56775268056596
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multi_sessions_20251119_181913/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: 742
|
| 19 |
-
均值融合 (都低速): 742
|
| 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 18:19:26
|
| 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_181913/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181913/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_181913/session_001/RGB_Images/timestamps.csv
DELETED
|
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| 1 |
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frame_index,timestamp
|
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|
multi_sessions_20251119_181913/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:0ba40ea225b434986f71ca77158620ba0ae817be27931944ade5823186623ebf
|
| 3 |
-
size 3323450
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|
multi_sessions_20251119_181913/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181913/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: 158152.049456s
|
| 6 |
-
Vive 第一帧时间戳: 1763547557.927439s
|
| 7 |
-
计算的 offset: -1763389405.877984s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.877984
|
| 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 18:19:26
|
| 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_181913/session_001/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181913/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1526 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
158171.660679,87.975893266592
|
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158178.905563,87.60411039633226
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| 1452 |
-
158178.913743,87.60411039633226
|
| 1453 |
-
158178.917201,87.60411039633226
|
| 1454 |
-
158178.920579,87.60411039633226
|
| 1455 |
-
158178.925776,87.60411039633226
|
| 1456 |
-
158178.930579,87.60411039633226
|
| 1457 |
-
158178.935561,87.60411039633226
|
| 1458 |
-
158178.940988,87.61319743423809
|
| 1459 |
-
158178.947516,87.61319743423809
|
| 1460 |
-
158178.951203,87.61319743423809
|
| 1461 |
-
158178.955705,87.60411039633226
|
| 1462 |
-
158178.963529,87.61319743423809
|
| 1463 |
-
158178.967208,87.61319743423809
|
| 1464 |
-
158178.970557,87.61319743423809
|
| 1465 |
-
158178.975609,87.60411039633226
|
| 1466 |
-
158178.980889,87.60411039633226
|
| 1467 |
-
158178.985567,87.60411039633226
|
| 1468 |
-
158178.99057,87.61319743423809
|
| 1469 |
-
158178.995733,87.60411039633226
|
| 1470 |
-
158179.000559,87.60411039633226
|
| 1471 |
-
158179.00573,87.60411039633226
|
| 1472 |
-
158179.013207,87.60411039633226
|
| 1473 |
-
158179.016206,87.60411039633226
|
| 1474 |
-
158179.020565,87.61319743423809
|
| 1475 |
-
158179.02563,87.61319743423809
|
| 1476 |
-
158179.031629,87.61319743423809
|
| 1477 |
-
158179.03557,87.61319743423809
|
| 1478 |
-
158179.040555,87.61319743423809
|
| 1479 |
-
158179.047262,87.61319743423809
|
| 1480 |
-
158179.050566,87.61319743423809
|
| 1481 |
-
158179.055644,87.60411039633226
|
| 1482 |
-
158179.06329,87.61319743423809
|
| 1483 |
-
158179.066215,87.61319743423809
|
| 1484 |
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158179.070583,87.61319743423809
|
| 1485 |
-
158179.075583,87.61319743423809
|
| 1486 |
-
158179.080862,87.61319743423809
|
| 1487 |
-
158179.085568,87.61319743423809
|
| 1488 |
-
158179.092188,87.61319743423809
|
| 1489 |
-
158179.09563,87.61319743423809
|
| 1490 |
-
158179.10056,87.61319743423809
|
| 1491 |
-
158179.105591,87.62228351549781
|
| 1492 |
-
158179.113147,87.62228351549781
|
| 1493 |
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158179.116197,87.62228351549781
|
| 1494 |
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158179.120571,87.62228351549781
|
| 1495 |
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158179.125568,87.62228351549781
|
| 1496 |
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158179.131231,87.62228351549781
|
| 1497 |
-
158179.135559,87.62228351549781
|
| 1498 |
-
158179.140556,87.63136863999556
|
| 1499 |
-
158179.148029,87.62228351549781
|
| 1500 |
-
158179.151199,87.62228351549781
|
| 1501 |
-
158179.156107,87.62228351549781
|
| 1502 |
-
158179.160571,87.62228351549781
|
| 1503 |
-
158179.16564,87.62228351549781
|
| 1504 |
-
158179.170754,87.62228351549781
|
| 1505 |
-
158179.175559,87.61319743423809
|
| 1506 |
-
158179.1807,87.61319743423809
|
| 1507 |
-
158179.185582,87.62228351549781
|
| 1508 |
-
158179.191596,87.62228351549781
|
| 1509 |
-
158179.195753,87.62228351549781
|
| 1510 |
-
158179.20056,87.62228351549781
|
| 1511 |
-
158179.205564,87.63136863999556
|
| 1512 |
-
158179.213745,87.63136863999556
|
| 1513 |
-
158179.217204,87.63136863999556
|
| 1514 |
-
158179.220562,87.63136863999556
|
| 1515 |
-
158179.225934,87.62228351549781
|
| 1516 |
-
158179.230763,87.62228351549781
|
| 1517 |
-
158179.235565,87.62228351549781
|
| 1518 |
-
158179.24056,87.62228351549781
|
| 1519 |
-
158179.247793,87.62228351549781
|
| 1520 |
-
158179.251211,87.62228351549781
|
| 1521 |
-
158179.255574,87.62228351549781
|
| 1522 |
-
158179.260716,87.62228351549781
|
| 1523 |
-
158179.266312,87.63136863999556
|
| 1524 |
-
158179.270561,87.63136863999556
|
| 1525 |
-
158179.275573,87.63136863999556
|
| 1526 |
-
158179.280736,87.63136863999556
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|
multi_sessions_20251119_181913/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1525 +0,0 @@
|
|
| 1 |
-
158171.660679000 87.975893266592
|
| 2 |
-
158171.665731000 87.98494098711389
|
| 3 |
-
158171.670666000 87.98494098711389
|
| 4 |
-
158171.675678000 87.975893266592
|
| 5 |
-
158171.681635000 87.975893266592
|
| 6 |
-
158171.685683000 87.975893266592
|
| 7 |
-
158171.691353000 87.975893266592
|
| 8 |
-
158171.695743000 87.98494098711389
|
| 9 |
-
158171.701133000 87.975893266592
|
| 10 |
-
158171.705677000 87.975893266592
|
| 11 |
-
158171.711758000 87.975893266592
|
| 12 |
-
158171.716075000 87.975893266592
|
| 13 |
-
158171.720682000 87.98494098711389
|
| 14 |
-
158171.725680000 87.975893266592
|
| 15 |
-
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| 1460 |
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158178.955705000 87.60411039633226
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| 1461 |
-
158178.963529000 87.61319743423809
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| 1462 |
-
158178.967208000 87.61319743423809
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| 1463 |
-
158178.970557000 87.61319743423809
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| 1464 |
-
158178.975609000 87.60411039633226
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| 1465 |
-
158178.980889000 87.60411039633226
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| 1466 |
-
158178.985567000 87.60411039633226
|
| 1467 |
-
158178.990570000 87.61319743423809
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| 1468 |
-
158178.995733000 87.60411039633226
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| 1469 |
-
158179.000559000 87.60411039633226
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| 1470 |
-
158179.005730000 87.60411039633226
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| 1471 |
-
158179.013207000 87.60411039633226
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| 1472 |
-
158179.016206000 87.60411039633226
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| 1473 |
-
158179.020565000 87.61319743423809
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| 1474 |
-
158179.025630000 87.61319743423809
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| 1475 |
-
158179.031629000 87.61319743423809
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| 1476 |
-
158179.035570000 87.61319743423809
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| 1477 |
-
158179.040555000 87.61319743423809
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| 1478 |
-
158179.047262000 87.61319743423809
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| 1479 |
-
158179.050566000 87.61319743423809
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| 1480 |
-
158179.055644000 87.60411039633226
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| 1481 |
-
158179.063290000 87.61319743423809
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| 1482 |
-
158179.066215000 87.61319743423809
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| 1483 |
-
158179.070583000 87.61319743423809
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| 1484 |
-
158179.075583000 87.61319743423809
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| 1485 |
-
158179.080862000 87.61319743423809
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| 1486 |
-
158179.085568000 87.61319743423809
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| 1487 |
-
158179.092188000 87.61319743423809
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| 1488 |
-
158179.095630000 87.61319743423809
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| 1489 |
-
158179.100560000 87.61319743423809
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| 1490 |
-
158179.105591000 87.62228351549781
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| 1491 |
-
158179.113147000 87.62228351549781
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| 1492 |
-
158179.116197000 87.62228351549781
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| 1493 |
-
158179.120571000 87.62228351549781
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| 1494 |
-
158179.125568000 87.62228351549781
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| 1495 |
-
158179.131231000 87.62228351549781
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| 1496 |
-
158179.135559000 87.62228351549781
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| 1497 |
-
158179.140556000 87.63136863999556
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| 1498 |
-
158179.148029000 87.62228351549781
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| 1499 |
-
158179.151199000 87.62228351549781
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| 1500 |
-
158179.156107000 87.62228351549781
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| 1501 |
-
158179.160571000 87.62228351549781
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| 1502 |
-
158179.165640000 87.62228351549781
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| 1503 |
-
158179.170754000 87.62228351549781
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| 1504 |
-
158179.175559000 87.61319743423809
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| 1505 |
-
158179.180700000 87.61319743423809
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| 1506 |
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158179.185582000 87.62228351549781
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| 1507 |
-
158179.191596000 87.62228351549781
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| 1508 |
-
158179.195753000 87.62228351549781
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| 1509 |
-
158179.200560000 87.62228351549781
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| 1510 |
-
158179.205564000 87.63136863999556
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| 1511 |
-
158179.213745000 87.63136863999556
|
| 1512 |
-
158179.217204000 87.63136863999556
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| 1513 |
-
158179.220562000 87.63136863999556
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| 1514 |
-
158179.225934000 87.62228351549781
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| 1515 |
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158179.230763000 87.62228351549781
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| 1516 |
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158179.235565000 87.62228351549781
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| 1517 |
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158179.240560000 87.62228351549781
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| 1518 |
-
158179.247793000 87.62228351549781
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| 1519 |
-
158179.251211000 87.62228351549781
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| 1520 |
-
158179.255574000 87.62228351549781
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| 1521 |
-
158179.260716000 87.62228351549781
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| 1522 |
-
158179.266312000 87.63136863999556
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| 1523 |
-
158179.270561000 87.63136863999556
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| 1524 |
-
158179.275573000 87.63136863999556
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| 1525 |
-
158179.280736000 87.63136863999556
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multi_sessions_20251119_181913/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: 762
|
| 19 |
-
均值融合 (都低速): 762
|
| 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 |
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输出率: 100.0%
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| 32 |
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跳过率: 0.0%
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| 33 |
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| 34 |
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生成时间: 2025-11-19 18:19:46
|
| 35 |
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设备标签: main
|
| 36 |
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XV 序列号: 250801DR48FP25002087
|
| 37 |
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_181913/session_002/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_181913/session_002/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_181913/session_002/RGB_Images/timestamps.csv
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441,158178.998117
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442,158179.013671
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445,158179.06266
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446,158179.079432
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447,158179.098113
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448,158179.113404
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449,158179.132075
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450,158179.147473
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451,158179.165939
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452,158179.179425
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453,158179.197903
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457,158179.263398
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|
multi_sessions_20251119_181913/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:3882f91e7da64140a2d6bf5a1dfb511d2ac75332d4d322ac1c895dbffe31dfe9
|
| 3 |
-
size 3611572
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|
multi_sessions_20251119_181913/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181913/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: 158171.661547s
|
| 6 |
-
Vive 第一帧时间戳: 1763547577.547475s
|
| 7 |
-
计算的 offset: -1763389405.885928s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.885928
|
| 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 18:19:46
|
| 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_181913/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_181913/session_003/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1524 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
158190.015394,87.975893266592
|
| 3 |
-
158190.020371,87.975893266592
|
| 4 |
-
158190.025683,87.975893266592
|
| 5 |
-
158190.03075,87.975893266592
|
| 6 |
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158190.035367,87.975893266592
|
| 7 |
-
158190.040373,87.975893266592
|
| 8 |
-
158190.045941,87.975893266592
|
| 9 |
-
158190.050368,87.975893266592
|
| 10 |
-
158190.055367,87.975893266592
|
| 11 |
-
158190.061226,87.98494098711389
|
| 12 |
-
158190.0654,87.975893266592
|
| 13 |
-
158190.070871,87.975893266592
|
| 14 |
-
158190.075621,87.975893266592
|
| 15 |
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158190.080364,87.975893266592
|
| 16 |
-
158190.085358,87.975893266592
|
| 17 |
-
158190.091351,87.975893266592
|
| 18 |
-
158190.095366,87.975893266592
|
| 19 |
-
158190.100353,87.975893266592
|
| 20 |
-
158190.105356,87.98494098711389
|
| 21 |
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158190.111239,87.98494098711389
|
| 22 |
-
158190.11536,87.975893266592
|
| 23 |
-
158190.12036,87.975893266592
|
| 24 |
-
158190.125449,87.975893266592
|
| 25 |
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158190.131535,87.975893266592
|
| 26 |
-
158190.135367,87.975893266592
|
| 27 |
-
158190.140472,87.975893266592
|
| 28 |
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158190.14543,87.975893266592
|
| 29 |
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158190.150363,87.975893266592
|
| 30 |
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158190.155372,87.975893266592
|
| 31 |
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158190.161046,87.975893266592
|
| 32 |
-
158190.165354,87.975893266592
|
| 33 |
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158190.170582,87.975893266592
|
| 34 |
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158190.175521,87.975893266592
|
| 35 |
-
158190.180361,87.975893266592
|
| 36 |
-
158190.18542,87.975893266592
|
| 37 |
-
158190.190585,87.975893266592
|
| 38 |
-
158190.195397,87.975893266592
|
| 39 |
-
158190.200353,87.975893266592
|
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158197.555299,87.50408987387988
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| 1511 |
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| 1512 |
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158197.565299,87.50408987387988
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| 1513 |
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158197.570352,87.50408987387988
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| 1514 |
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158197.576173,87.50408987387988
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| 1515 |
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| 1516 |
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| 1517 |
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158197.591924,87.50408987387988
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| 1518 |
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| 1519 |
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| 1520 |
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| 1521 |
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| 1522 |
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| 1523 |
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| 1524 |
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|
multi_sessions_20251119_181913/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1523 +0,0 @@
|
|
| 1 |
-
158190.015394000 87.975893266592
|
| 2 |
-
158190.020371000 87.975893266592
|
| 3 |
-
158190.025683000 87.975893266592
|
| 4 |
-
158190.030750000 87.975893266592
|
| 5 |
-
158190.035367000 87.975893266592
|
| 6 |
-
158190.040373000 87.975893266592
|
| 7 |
-
158190.045941000 87.975893266592
|
| 8 |
-
158190.050368000 87.975893266592
|
| 9 |
-
158190.055367000 87.975893266592
|
| 10 |
-
158190.061226000 87.98494098711389
|
| 11 |
-
158190.065400000 87.975893266592
|
| 12 |
-
158190.070871000 87.975893266592
|
| 13 |
-
158190.075621000 87.975893266592
|
| 14 |
-
158190.080364000 87.975893266592
|
| 15 |
-
158190.085358000 87.975893266592
|
| 16 |
-
158190.091351000 87.975893266592
|
| 17 |
-
158190.095366000 87.975893266592
|
| 18 |
-
158190.100353000 87.975893266592
|
| 19 |
-
158190.105356000 87.98494098711389
|
| 20 |
-
158190.111239000 87.98494098711389
|
| 21 |
-
158190.115360000 87.975893266592
|
| 22 |
-
158190.120360000 87.975893266592
|
| 23 |
-
158190.125449000 87.975893266592
|
| 24 |
-
158190.131535000 87.975893266592
|
| 25 |
-
158190.135367000 87.975893266592
|
| 26 |
-
158190.140472000 87.975893266592
|
| 27 |
-
158190.145430000 87.975893266592
|
| 28 |
-
158190.150363000 87.975893266592
|
| 29 |
-
158190.155372000 87.975893266592
|
| 30 |
-
158190.161046000 87.975893266592
|
| 31 |
-
158190.165354000 87.975893266592
|
| 32 |
-
158190.170582000 87.975893266592
|
| 33 |
-
158190.175521000 87.975893266592
|
| 34 |
-
158190.180361000 87.975893266592
|
| 35 |
-
158190.185420000 87.975893266592
|
| 36 |
-
158190.190585000 87.975893266592
|
| 37 |
-
158190.195397000 87.975893266592
|
| 38 |
-
158190.200353000 87.975893266592
|
| 39 |
-
158190.205373000 87.975893266592
|
| 40 |
-
158190.211294000 87.975893266592
|
| 41 |
-
158190.215365000 87.975893266592
|
| 42 |
-
158190.220365000 87.975893266592
|
| 43 |
-
158190.225443000 87.975893266592
|
| 44 |
-
158190.231030000 87.975893266592
|
| 45 |
-
158190.235377000 87.975893266592
|
| 46 |
-
158190.240418000 87.98494098711389
|
| 47 |
-
158190.245523000 87.98494098711389
|
| 48 |
-
158190.250370000 87.98494098711389
|
| 49 |
-
158190.255365000 87.98494098711389
|
| 50 |
-
158190.261546000 87.975893266592
|
| 51 |
-
158190.265352000 87.975893266592
|
| 52 |
-
158190.270398000 87.975893266592
|
| 53 |
-
158190.275643000 87.975893266592
|
| 54 |
-
158190.280361000 87.975893266592
|
| 55 |
-
158190.285357000 87.975893266592
|
| 56 |
-
158190.291458000 87.975893266592
|
| 57 |
-
158190.295364000 87.975893266592
|
| 58 |
-
158190.300352000 87.975893266592
|
| 59 |
-
158190.305354000 87.975893266592
|
| 60 |
-
158190.311959000 87.975893266592
|
| 61 |
-
158190.315429000 87.975893266592
|
| 62 |
-
158190.320388000 87.975893266592
|
| 63 |
-
158190.325374000 87.975893266592
|
| 64 |
-
158190.331564000 87.975893266592
|
| 65 |
-
158190.335392000 87.975893266592
|
| 66 |
-
158190.340360000 87.975893266592
|
| 67 |
-
158190.346362000 87.975893266592
|
| 68 |
-
158190.350355000 87.98494098711389
|
| 69 |
-
158190.355359000 87.98494098711389
|
| 70 |
-
158190.361433000 87.98494098711389
|
| 71 |
-
158190.365356000 87.98494098711389
|
| 72 |
-
158190.370531000 87.975893266592
|
| 73 |
-
158190.375935000 87.975893266592
|
| 74 |
-
158190.380358000 87.975893266592
|
| 75 |
-
158190.385439000 87.975893266592
|
| 76 |
-
158190.390493000 87.975893266592
|
| 77 |
-
158190.395353000 87.975893266592
|
| 78 |
-
158190.400351000 87.975893266592
|
| 79 |
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multi_sessions_20251119_181913/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: 761
|
| 19 |
-
均值融合 (都低速): 761
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:20:05
|
| 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_181913/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181913/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181913/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,458 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158190.010548
|
| 3 |
-
1,158190.029674
|
| 4 |
-
2,158190.043838
|
| 5 |
-
3,158190.060584
|
| 6 |
-
4,158190.077436
|
| 7 |
-
5,158190.095812
|
| 8 |
-
6,158190.110634
|
| 9 |
-
7,158190.129351
|
| 10 |
-
8,158190.143949
|
| 11 |
-
9,158190.161122
|
| 12 |
-
10,158190.177573
|
| 13 |
-
11,158190.195939
|
| 14 |
-
12,158190.21061
|
| 15 |
-
13,158190.230336
|
| 16 |
-
14,158190.243905
|
| 17 |
-
15,158190.260815
|
| 18 |
-
16,158190.277466
|
| 19 |
-
17,158190.29571
|
| 20 |
-
18,158190.310896
|
| 21 |
-
19,158190.329368
|
| 22 |
-
20,158190.343665
|
| 23 |
-
21,158190.360925
|
| 24 |
-
22,158190.377604
|
| 25 |
-
23,158190.395801
|
| 26 |
-
24,158190.410645
|
| 27 |
-
25,158190.430228
|
| 28 |
-
26,158190.443984
|
| 29 |
-
27,158190.46102
|
| 30 |
-
28,158190.47744
|
| 31 |
-
29,158190.49595
|
| 32 |
-
30,158190.510672
|
| 33 |
-
31,158190.530254
|
| 34 |
-
32,158190.543692
|
| 35 |
-
33,158190.561085
|
| 36 |
-
34,158190.577692
|
| 37 |
-
35,158190.594378
|
| 38 |
-
36,158190.611274
|
| 39 |
-
37,158190.629134
|
| 40 |
-
38,158190.643883
|
| 41 |
-
39,158190.660904
|
| 42 |
-
40,158190.677461
|
| 43 |
-
41,158190.695694
|
| 44 |
-
42,158190.710761
|
| 45 |
-
43,158190.729443
|
| 46 |
-
44,158190.743674
|
| 47 |
-
45,158190.760659
|
| 48 |
-
46,158190.777703
|
| 49 |
-
47,158190.794378
|
| 50 |
-
48,158190.811344
|
| 51 |
-
49,158190.83074
|
| 52 |
-
50,158190.844078
|
| 53 |
-
51,158190.860978
|
| 54 |
-
52,158190.877447
|
| 55 |
-
53,158190.895631
|
| 56 |
-
54,158190.910769
|
| 57 |
-
55,158190.92962
|
| 58 |
-
56,158190.943633
|
| 59 |
-
57,158190.96047
|
| 60 |
-
58,158190.977663
|
| 61 |
-
59,158190.994265
|
| 62 |
-
60,158191.010931
|
| 63 |
-
61,158191.030738
|
| 64 |
-
62,158191.044289
|
| 65 |
-
63,158191.061351
|
| 66 |
-
64,158191.077376
|
| 67 |
-
65,158191.096217
|
| 68 |
-
66,158191.110442
|
| 69 |
-
67,158191.129358
|
| 70 |
-
68,158191.143661
|
| 71 |
-
69,158191.160614
|
| 72 |
-
70,158191.177616
|
| 73 |
-
71,158191.195854
|
| 74 |
-
72,158191.210412
|
| 75 |
-
73,158191.230814
|
| 76 |
-
74,158191.244319
|
| 77 |
-
75,158191.26117
|
| 78 |
-
76,158191.277321
|
| 79 |
-
77,158191.293937
|
| 80 |
-
78,158191.311078
|
| 81 |
-
79,158191.329373
|
| 82 |
-
80,158191.343665
|
| 83 |
-
81,158191.360467
|
| 84 |
-
82,158191.377247
|
| 85 |
-
83,158191.396417
|
| 86 |
-
84,158191.41032
|
| 87 |
-
85,158191.430772
|
| 88 |
-
86,158191.443924
|
| 89 |
-
87,158191.460945
|
| 90 |
-
88,158191.477361
|
| 91 |
-
89,158191.495553
|
| 92 |
-
90,158191.510232
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multi_sessions_20251119_181913/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:8df236cd864adeb392315f12351b2767610df39a946f1a5e429937586b772f2d
|
| 3 |
-
size 3456993
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|
multi_sessions_20251119_181913/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181913/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: 158190.015455s
|
| 6 |
-
Vive 第一帧时间戳: 1763547595.897409s
|
| 7 |
-
计算的 offset: -1763389405.881954s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.881954
|
| 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 18:20:05
|
| 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_181913/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_181913/session_004/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1553 +0,0 @@
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timestamp,clamp
|
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|
multi_sessions_20251119_181913/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1552 +0,0 @@
|
|
| 1 |
-
158208.011828000 87.77660041781606
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| 2 |
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158208.015442000 87.77660041781606
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| 3 |
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158208.020449000 87.77660041781606
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| 4 |
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158208.026695000 87.77660041781606
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| 5 |
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158208.030104000 87.77660041781606
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| 6 |
-
158208.035107000 87.77660041781606
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| 7 |
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158208.041594000 87.77660041781606
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| 8 |
-
158208.045119000 87.77660041781606
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| 9 |
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158208.050831000 87.77660041781606
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| 10 |
-
158208.055489000 87.77660041781606
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| 11 |
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158208.060107000 87.77660041781606
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| 12 |
-
158208.065107000 87.77660041781606
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| 13 |
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158208.071525000 87.77660041781606
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| 14 |
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158208.075541000 87.77660041781606
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| 15 |
-
158208.080109000 87.77660041781606
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| 16 |
-
158208.085303000 87.77660041781606
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| 17 |
-
158208.092484000 87.78566925964175
|
| 18 |
-
158208.095741000 87.78566925964175
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| 19 |
-
158208.100100000 87.78566925964175
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| 20 |
-
158208.105204000 87.77660041781606
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| 21 |
-
158208.111020000 87.77660041781606
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| 22 |
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158208.115544000 87.77660041781606
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| 23 |
-
158208.120108000 87.77660041781606
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| 24 |
-
158208.126390000 87.77660041781606
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| 25 |
-
158208.130103000 87.77660041781606
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| 26 |
-
158208.135108000 87.78566925964175
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| 27 |
-
158208.141470000 87.77660041781606
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| 28 |
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158208.145135000 87.77660041781606
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| 29 |
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158208.150753000 87.77660041781606
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| 30 |
-
158208.155372000 87.77660041781606
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| 31 |
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158208.160132000 87.78566925964175
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| 32 |
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158208.165531000 87.78566925964175
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| 33 |
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158208.171287000 87.77660041781606
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| 34 |
-
158208.175560000 87.77660041781606
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| 35 |
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158208.180108000 87.77660041781606
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| 36 |
-
158208.185111000 87.78566925964175
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| 37 |
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158208.191689000 87.78566925964175
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| 38 |
-
158208.195107000 87.78566925964175
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| 39 |
-
158208.200101000 87.77660041781606
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| 40 |
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158208.205781000 87.77660041781606
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158208.210109000 87.77660041781606
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-
158208.215504000 87.77660041781606
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| 43 |
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158208.220106000 87.77660041781606
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| 44 |
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158208.225625000 87.77660041781606
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| 45 |
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158208.230105000 87.77660041781606
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| 46 |
-
158208.235150000 87.77660041781606
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| 47 |
-
158208.241609000 87.77660041781606
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| 48 |
-
158208.245197000 87.78566925964175
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| 49 |
-
158208.250164000 87.77660041781606
|
| 50 |
-
158208.255431000 87.77660041781606
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| 51 |
-
158208.260122000 87.77660041781606
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| 52 |
-
158208.265106000 87.77660041781606
|
| 53 |
-
158208.271191000 87.77660041781606
|
| 54 |
-
158208.275610000 87.77660041781606
|
| 55 |
-
158208.280108000 87.77660041781606
|
| 56 |
-
158208.285110000 87.77660041781606
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| 57 |
-
158208.292634000 87.77660041781606
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| 58 |
-
158208.295732000 87.77660041781606
|
| 59 |
-
158208.300101000 87.77660041781606
|
| 60 |
-
158208.305192000 87.77660041781606
|
| 61 |
-
158208.311058000 87.77660041781606
|
| 62 |
-
158208.315105000 87.77660041781606
|
| 63 |
-
158208.320105000 87.77660041781606
|
| 64 |
-
158208.325838000 87.77660041781606
|
| 65 |
-
158208.330156000 87.77660041781606
|
| 66 |
-
158208.335439000 87.77660041781606
|
| 67 |
-
158208.340259000 87.77660041781606
|
| 68 |
-
158208.345184000 87.77660041781606
|
| 69 |
-
158208.350497000 87.77660041781606
|
| 70 |
-
158208.355692000 87.77660041781606
|
| 71 |
-
158208.360104000 87.77660041781606
|
| 72 |
-
158208.365108000 87.77660041781606
|
| 73 |
-
158208.371573000 87.77660041781606
|
| 74 |
-
158208.375336000 87.77660041781606
|
| 75 |
-
158208.380096000 87.77660041781606
|
| 76 |
-
158208.385113000 87.77660041781606
|
| 77 |
-
158208.391729000 87.77660041781606
|
| 78 |
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158208.395099000 87.77660041781606
|
| 79 |
-
158208.400091000 87.77660041781606
|
| 80 |
-
158208.405789000 87.77660041781606
|
| 81 |
-
158208.410455000 87.77660041781606
|
| 82 |
-
158208.415557000 87.77660041781606
|
| 83 |
-
158208.420095000 87.77660041781606
|
| 84 |
-
158208.425467000 87.77660041781606
|
| 85 |
-
158208.430100000 87.77660041781606
|
| 86 |
-
158208.435148000 87.77660041781606
|
| 87 |
-
158208.441555000 87.77660041781606
|
| 88 |
-
158208.445101000 87.77660041781606
|
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158214.173486000 87.68585928849235
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158215.580061000 87.70401517864401
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| 1516 |
-
158215.585074000 87.70401517864401
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| 1517 |
-
158215.591550000 87.69493771241248
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| 1518 |
-
158215.595055000 87.69493771241248
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| 1519 |
-
158215.600052000 87.69493771241248
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| 1520 |
-
158215.607751000 87.69493771241248
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| 1521 |
-
158215.610707000 87.69493771241248
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| 1522 |
-
158215.615062000 87.69493771241248
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| 1523 |
-
158215.620390000 87.69493771241248
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| 1524 |
-
158215.626244000 87.70401517864401
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| 1525 |
-
158215.630078000 87.69493771241248
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| 1526 |
-
158215.635178000 87.69493771241248
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| 1527 |
-
158215.640329000 87.69493771241248
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| 1528 |
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158215.645064000 87.70401517864401
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| 1529 |
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158215.650516000 87.70401517864401
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| 1530 |
-
158215.657573000 87.70401517864401
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| 1531 |
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158215.660680000 87.70401517864401
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| 1532 |
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158215.665057000 87.70401517864401
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| 1533 |
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158215.670934000 87.70401517864401
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| 1534 |
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158215.675990000 87.70401517864401
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| 1535 |
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158215.680057000 87.70401517864401
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| 1536 |
-
158215.685066000 87.70401517864401
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| 1537 |
-
158215.691078000 87.70401517864401
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| 1538 |
-
158215.695053000 87.69493771241248
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| 1539 |
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158215.700051000 87.70401517864401
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| 1540 |
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158215.707593000 87.70401517864401
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| 1541 |
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158215.710730000 87.70401517864401
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| 1542 |
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158215.715475000 87.70401517864401
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| 1543 |
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158215.720159000 87.69493771241248
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| 1544 |
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158215.725451000 87.70401517864401
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| 1545 |
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158215.730756000 87.70401517864401
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| 1546 |
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158215.735096000 87.70401517864401
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| 1547 |
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158215.740058000 87.70401517864401
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| 1548 |
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158215.745084000 87.70401517864401
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| 1549 |
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158215.750067000 87.70401517864401
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| 1550 |
-
158215.757961000 87.70401517864401
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| 1551 |
-
158215.761687000 87.70401517864401
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| 1552 |
-
158215.765177000 87.70401517864401
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|
multi_sessions_20251119_181913/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: 775
|
| 19 |
-
均值融合 (都低速): 775
|
| 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 18:20:23
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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446,158215.439874
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450,158215.506969
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451,158215.527062
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452,158215.539564
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454,158215.57369
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455,158215.592692
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456,158215.607199
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457,158215.626626
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458,158215.6397
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459,158215.6577
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460,158215.67395
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461,158215.69273
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462,158215.707011
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463,158215.724889
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464,158215.739323
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|
multi_sessions_20251119_181913/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:e440e3bd0627170cd0cc2deb58e2ac311358f0c6785360d927206e6d6aa05f55
|
| 3 |
-
size 3390061
|
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|
multi_sessions_20251119_181913/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181913/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: 158208.013455s
|
| 6 |
-
Vive 第一帧时间戳: 1763547613.897446s
|
| 7 |
-
计算的 offset: -1763389405.883991s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.883991
|
| 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 18:20:23
|
| 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_181913/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_181913/session_005/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1592 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
158227.879908,87.89442053851148
|
| 3 |
-
158227.886299,87.90347690632468
|
| 4 |
-
158227.890024,87.90347690632468
|
| 5 |
-
158227.894905,87.90347690632468
|
| 6 |
-
158227.899903,87.90347690632468
|
| 7 |
-
158227.906068,87.90347690632468
|
| 8 |
-
158227.909908,87.90347690632468
|
| 9 |
-
158227.914905,87.90347690632468
|
| 10 |
-
158227.919931,87.90347690632468
|
| 11 |
-
158227.924926,87.90347690632468
|
| 12 |
-
158227.930015,87.90347690632468
|
| 13 |
-
158227.935826,87.90347690632468
|
| 14 |
-
158227.939908,87.90347690632468
|
| 15 |
-
158227.944924,87.90347690632468
|
| 16 |
-
158227.951086,87.89442053851148
|
| 17 |
-
158227.955765,87.90347690632468
|
| 18 |
-
158227.959923,87.89442053851148
|
| 19 |
-
158227.964902,87.89442053851148
|
| 20 |
-
158227.972272,87.90347690632468
|
| 21 |
-
158227.975535,87.90347690632468
|
| 22 |
-
158227.979903,87.90347690632468
|
| 23 |
-
158227.984941,87.90347690632468
|
| 24 |
-
158227.99001,87.90347690632468
|
| 25 |
-
158227.9949,87.90347690632468
|
| 26 |
-
158228.000334,87.90347690632468
|
| 27 |
-
158228.005931,87.90347690632468
|
| 28 |
-
158228.009908,87.91253231378958
|
| 29 |
-
158228.014905,87.90347690632468
|
| 30 |
-
158228.020541,87.90347690632468
|
| 31 |
-
158228.024909,87.89442053851148
|
| 32 |
-
158228.030281,87.89442053851148
|
| 33 |
-
158228.035208,87.89442053851148
|
| 34 |
-
158228.039946,87.89442053851148
|
| 35 |
-
158228.044994,87.89442053851148
|
| 36 |
-
158228.050532,87.90347690632468
|
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158235.320904,87.73124183004924
|
| 1491 |
-
158235.324886,87.73124183004924
|
| 1492 |
-
158235.329931,87.73124183004924
|
| 1493 |
-
158235.335551,87.74031546436872
|
| 1494 |
-
158235.33986,87.73124183004924
|
| 1495 |
-
158235.344801,87.73124183004924
|
| 1496 |
-
158235.349808,87.74031546436872
|
| 1497 |
-
158235.355189,87.74031546436872
|
| 1498 |
-
158235.359827,87.74031546436872
|
| 1499 |
-
158235.364804,87.73124183004924
|
| 1500 |
-
158235.370381,87.73124183004924
|
| 1501 |
-
158235.374811,87.73124183004924
|
| 1502 |
-
158235.379803,87.73124183004924
|
| 1503 |
-
158235.384818,87.73124183004924
|
| 1504 |
-
158235.390868,87.73124183004924
|
| 1505 |
-
158235.394798,87.73124183004924
|
| 1506 |
-
158235.402522,87.73124183004924
|
| 1507 |
-
158235.405658,87.74031546436872
|
| 1508 |
-
158235.410234,87.73124183004924
|
| 1509 |
-
158235.414803,87.73124183004924
|
| 1510 |
-
158235.419895,87.73124183004924
|
| 1511 |
-
158235.424893,87.73124183004924
|
| 1512 |
-
158235.429826,87.73124183004924
|
| 1513 |
-
158235.435352,87.73124183004924
|
| 1514 |
-
158235.439813,87.74031546436872
|
| 1515 |
-
158235.444871,87.73124183004924
|
| 1516 |
-
158235.452756,87.74031546436872
|
| 1517 |
-
158235.456422,87.74031546436872
|
| 1518 |
-
158235.459795,87.74031546436872
|
| 1519 |
-
158235.464877,87.74031546436872
|
| 1520 |
-
158235.469985,87.74031546436872
|
| 1521 |
-
158235.474804,87.74031546436872
|
| 1522 |
-
158235.479797,87.74031546436872
|
| 1523 |
-
158235.484861,87.74031546436872
|
| 1524 |
-
158235.489995,87.74031546436872
|
| 1525 |
-
158235.494793,87.73124183004924
|
| 1526 |
-
158235.501779,87.73124183004924
|
| 1527 |
-
158235.505692,87.73124183004924
|
| 1528 |
-
158235.509799,87.73124183004924
|
| 1529 |
-
158235.514804,87.73124183004924
|
| 1530 |
-
158235.520728,87.73124183004924
|
| 1531 |
-
158235.524809,87.74031546436872
|
| 1532 |
-
158235.529806,87.74031546436872
|
| 1533 |
-
158235.535617,87.74031546436872
|
| 1534 |
-
158235.539833,87.73124183004924
|
| 1535 |
-
158235.544803,87.74031546436872
|
| 1536 |
-
158235.550543,87.74031546436872
|
| 1537 |
-
158235.554861,87.74031546436872
|
| 1538 |
-
158235.559845,87.74031546436872
|
| 1539 |
-
158235.564797,87.74031546436872
|
| 1540 |
-
158235.57139,87.74938814042085
|
| 1541 |
-
158235.574804,87.74938814042085
|
| 1542 |
-
158235.579796,87.74938814042085
|
| 1543 |
-
158235.584817,87.74938814042085
|
| 1544 |
-
158235.590662,87.74938814042085
|
| 1545 |
-
158235.594792,87.74031546436872
|
| 1546 |
-
158235.599915,87.74031546436872
|
| 1547 |
-
158235.605756,87.74031546436872
|
| 1548 |
-
158235.609821,87.74031546436872
|
| 1549 |
-
158235.6148,87.73124183004924
|
| 1550 |
-
158235.620124,87.74031546436872
|
| 1551 |
-
158235.624995,87.74031546436872
|
| 1552 |
-
158235.630325,87.74031546436872
|
| 1553 |
-
158235.635649,87.74031546436872
|
| 1554 |
-
158235.63981,87.74031546436872
|
| 1555 |
-
158235.644877,87.73124183004924
|
| 1556 |
-
158235.652755,87.73124183004924
|
| 1557 |
-
158235.656418,87.74031546436872
|
| 1558 |
-
158235.659785,87.74031546436872
|
| 1559 |
-
158235.664786,87.74938814042085
|
| 1560 |
-
158235.669917,87.74938814042085
|
| 1561 |
-
158235.674796,87.74031546436872
|
| 1562 |
-
158235.679788,87.74031546436872
|
| 1563 |
-
158235.684794,87.74031546436872
|
| 1564 |
-
158235.691121,87.74031546436872
|
| 1565 |
-
158235.694789,87.74031546436872
|
| 1566 |
-
158235.702393,87.74031546436872
|
| 1567 |
-
158235.705934,87.74031546436872
|
| 1568 |
-
158235.709794,87.74031546436872
|
| 1569 |
-
158235.714838,87.74938814042085
|
| 1570 |
-
158235.720987,87.74938814042085
|
| 1571 |
-
158235.724792,87.74938814042085
|
| 1572 |
-
158235.729968,87.74938814042085
|
| 1573 |
-
158235.735689,87.74938814042085
|
| 1574 |
-
158235.739791,87.74938814042085
|
| 1575 |
-
158235.744789,87.74938814042085
|
| 1576 |
-
158235.749846,87.74938814042085
|
| 1577 |
-
158235.754795,87.74938814042085
|
| 1578 |
-
158235.759784,87.74938814042085
|
| 1579 |
-
158235.76479,87.74938814042085
|
| 1580 |
-
158235.770464,87.74938814042085
|
| 1581 |
-
158235.774795,87.74938814042085
|
| 1582 |
-
158235.779788,87.74938814042085
|
| 1583 |
-
158235.784792,87.74938814042085
|
| 1584 |
-
158235.789929,87.74031546436872
|
| 1585 |
-
158235.794785,87.74938814042085
|
| 1586 |
-
158235.802504,87.74031546436872
|
| 1587 |
-
158235.805487,87.74938814042085
|
| 1588 |
-
158235.810315,87.74938814042085
|
| 1589 |
-
158235.81479,87.74938814042085
|
| 1590 |
-
158235.820212,87.74938814042085
|
| 1591 |
-
158235.825053,87.74938814042085
|
| 1592 |
-
158235.829792,87.74938814042085
|
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multi_sessions_20251119_181913/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1591 +0,0 @@
|
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| 1 |
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158228.199888000 87.9215867607907
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158233.494820000 41.902119433148584
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158233.505614000 44.05122508871103
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158233.509818000 45.322647784154434
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158233.514824000 47.144112382059376
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158234.974803000 87.70401517864401
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| 1421 |
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158234.979832000 87.70401517864401
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| 1422 |
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158234.984801000 87.70401517864401
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158234.989911000 87.70401517864401
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158234.994794000 87.70401517864401
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158235.000123000 87.70401517864401
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158235.004865000 87.70401517864401
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158235.009801000 87.70401517864401
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| 1428 |
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158235.014800000 87.70401517864401
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158235.019809000 87.70401517864401
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158235.025661000 87.70401517864401
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158235.029793000 87.70401517864401
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| 1432 |
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158235.035082000 87.70401517864401
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| 1433 |
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158235.039880000 87.71309168707114
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158235.044824000 87.71309168707114
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158235.050154000 87.71309168707114
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158235.054953000 87.71309168707114
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158235.059794000 87.71309168707114
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158235.064830000 87.71309168707114
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158235.099810000 87.72216723757813
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158235.109797000 87.72216723757813
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158235.114797000 87.71309168707114
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158235.120790000 87.72216723757813
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158235.124801000 87.71309168707114
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158235.135156000 87.72216723757813
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158235.145146000 87.72216723757813
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158235.159792000 87.72216723757813
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158235.174808000 87.72216723757813
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158235.179851000 87.72216723757813
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158235.370381000 87.73124183004924
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158235.379803000 87.73124183004924
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158235.414803000 87.73124183004924
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158235.435352000 87.73124183004924
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158235.439813000 87.74031546436872
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158235.574804000 87.74938814042085
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158235.684794000 87.74031546436872
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158235.709794000 87.74031546436872
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158235.714838000 87.74938814042085
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158235.720987000 87.74938814042085
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158235.724792000 87.74938814042085
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158235.729968000 87.74938814042085
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158235.735689000 87.74938814042085
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158235.739791000 87.74938814042085
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158235.744789000 87.74938814042085
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158235.749846000 87.74938814042085
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158235.754795000 87.74938814042085
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158235.759784000 87.74938814042085
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158235.764790000 87.74938814042085
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158235.774795000 87.74938814042085
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158235.779788000 87.74938814042085
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158235.789929000 87.74031546436872
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158235.794785000 87.74938814042085
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158235.802504000 87.74031546436872
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158235.805487000 87.74938814042085
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158235.810315000 87.74938814042085
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158235.814790000 87.74938814042085
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158235.820212000 87.74938814042085
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158235.825053000 87.74938814042085
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158235.829792000 87.74938814042085
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multi_sessions_20251119_181913/session_005/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 796
|
| 19 |
-
均值融合 (都低速): 796
|
| 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 18:20:43
|
| 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_181913/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181913/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181913/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,478 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158227.870723
|
| 3 |
-
1,158227.888586
|
| 4 |
-
2,158227.903805
|
| 5 |
-
3,158227.925384
|
| 6 |
-
4,158227.937761
|
| 7 |
-
5,158227.957829
|
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-
6,158227.97166
|
| 9 |
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7,158227.991437
|
| 10 |
-
8,158228.005061
|
| 11 |
-
9,158228.025172
|
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-
10,158228.037511
|
| 13 |
-
11,158228.05539
|
| 14 |
-
12,158228.070763
|
| 15 |
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13,158228.091039
|
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14,158228.105108
|
| 17 |
-
15,158228.125202
|
| 18 |
-
16,158228.137658
|
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-
17,158228.157446
|
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18,158228.170505
|
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19,158228.191841
|
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20,158228.20426
|
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21,158228.222245
|
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22,158228.237595
|
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23,158228.255237
|
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24,158228.270716
|
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-
25,158228.288786
|
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-
26,158228.303676
|
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-
27,158228.322356
|
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-
28,158228.338136
|
| 31 |
-
29,158228.357563
|
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30,158228.370397
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31,158228.391898
|
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-
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|
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33,158228.422263
|
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35,158228.457404
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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-
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|
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46,158228.637702
|
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|
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|
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|
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50,158228.705314
|
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51,158228.725255
|
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-
52,158228.737862
|
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53,158228.757945
|
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54,158228.771309
|
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55,158228.791143
|
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-
56,158228.804998
|
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57,158228.825098
|
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-
58,158228.837381
|
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59,158228.856956
|
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60,158228.870437
|
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-
61,158228.888551
|
| 64 |
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62,158228.903642
|
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63,158228.921889
|
| 66 |
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64,158228.937023
|
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65,158228.957391
|
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66,158228.97035
|
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67,158228.991293
|
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68,158229.004259
|
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69,158229.022062
|
| 72 |
-
70,158229.03764
|
| 73 |
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71,158229.057465
|
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72,158229.070511
|
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73,158229.091577
|
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74,158229.10508
|
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75,158229.121817
|
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76,158229.137729
|
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77,158229.154979
|
| 80 |
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78,158229.170305
|
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79,158229.19114
|
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80,158229.205231
|
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81,158229.224985
|
| 84 |
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82,158229.23736
|
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-
83,158229.257529
|
| 86 |
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84,158229.270388
|
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85,158229.288735
|
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86,158229.303515
|
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87,158229.322053
|
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88,158229.337109
|
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89,158229.354841
|
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90,158229.370292
|
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91,158229.391201
|
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92,158229.403946
|
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93,158229.422056
|
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94,158229.43767
|
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95,158229.457604
|
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96,158229.471442
|
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97,158229.490723
|
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98,158229.503938
|
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99,158229.52213
|
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100,158229.537835
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101,158229.557554
|
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102,158229.570285
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103,158229.589774
|
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104,158229.60354
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105,158229.621988
|
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106,158229.637808
|
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107,158229.657782
|
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108,158229.670403
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109,158229.688565
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112,158229.736939
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113,158229.757528
|
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116,158229.803386
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117,158229.825017
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118,158229.837126
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|
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121,158229.888496
|
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124,158229.936766
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125,158229.957049
|
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126,158229.97045
|
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127,158229.991368
|
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128,158230.003653
|
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129,158230.021782
|
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130,158230.037855
|
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131,158230.0577
|
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132,158230.070981
|
| 135 |
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133,158230.090992
|
| 136 |
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134,158230.104965
|
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135,158230.121311
|
| 138 |
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136,158230.137115
|
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137,158230.157157
|
| 140 |
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138,158230.170339
|
| 141 |
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139,158230.190909
|
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140,158230.203559
|
| 143 |
-
141,158230.221767
|
| 144 |
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142,158230.237866
|
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-
143,158230.25656
|
| 146 |
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144,158230.270414
|
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145,158230.288417
|
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|
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147,158230.321598
|
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148,158230.337104
|
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149,158230.356024
|
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150,158230.3706
|
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|
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152,158230.403397
|
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153,158230.424151
|
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154,158230.437721
|
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155,158230.45809
|
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156,158230.470702
|
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157,158230.491401
|
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|
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|
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|
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|
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162,158230.570134
|
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163,158230.591561
|
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|
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|
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|
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173,158230.757083
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176,158230.803307
|
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177,158230.821531
|
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|
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179,158230.85663
|
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180,158230.870148
|
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181,158230.890234
|
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182,158230.903304
|
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multi_sessions_20251119_181913/session_005/RGB_Images/video.mp4
DELETED
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@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:9c21fc1dc23183d22f9fb780975a1892fef5d08f4855056b8b01578524bf9ba5
|
| 3 |
-
size 3727557
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multi_sessions_20251119_181913/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
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multi_sessions_20251119_181913/session_005/Vive_Poses/offset_info.txt
DELETED
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@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 158227.877463s
|
| 6 |
-
Vive 第一帧时间戳: 1763547633.757525s
|
| 7 |
-
计算的 offset: -1763389405.880062s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.880062
|
| 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 18:20:43
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
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