Delete multi_sessions_20251119_183527
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- multi_sessions_20251119_183527/collection_summary.txt +0 -93
- multi_sessions_20251119_183527/session_001/Clamp_Data/clamp.csv +0 -1663
- multi_sessions_20251119_183527/session_001/Clamp_Data/clamp_data_tum.txt +0 -1662
- multi_sessions_20251119_183527/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183527/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183527/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183527/session_001/RGB_Images/timestamps.csv +0 -499
- multi_sessions_20251119_183527/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183527/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183527/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183527/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183527/session_002/Clamp_Data/clamp.csv +0 -1493
- multi_sessions_20251119_183527/session_002/Clamp_Data/clamp_data_tum.txt +0 -1492
- multi_sessions_20251119_183527/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183527/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183527/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183527/session_002/RGB_Images/timestamps.csv +0 -448
- multi_sessions_20251119_183527/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183527/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183527/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183527/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183527/session_003/Clamp_Data/clamp.csv +0 -1703
- multi_sessions_20251119_183527/session_003/Clamp_Data/clamp_data_tum.txt +0 -1702
- multi_sessions_20251119_183527/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183527/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183527/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183527/session_003/RGB_Images/timestamps.csv +0 -512
- multi_sessions_20251119_183527/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183527/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183527/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183527/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183527/session_004/Clamp_Data/clamp.csv +0 -1662
- multi_sessions_20251119_183527/session_004/Clamp_Data/clamp_data_tum.txt +0 -1661
- multi_sessions_20251119_183527/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183527/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183527/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183527/session_004/RGB_Images/timestamps.csv +0 -500
- multi_sessions_20251119_183527/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183527/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183527/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_183527/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_183527/session_005/Clamp_Data/clamp.csv +0 -1662
- multi_sessions_20251119_183527/session_005/Clamp_Data/clamp_data_tum.txt +0 -1661
- multi_sessions_20251119_183527/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_183527/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_183527/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_183527/session_005/RGB_Images/timestamps.csv +0 -499
- multi_sessions_20251119_183527/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_183527/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_183527/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_183527/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 18:35:28 CST
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设备模式: 单设备
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设备数量: 1
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计划会话数: 5
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会话间隔: 3秒
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摘要目录: ./multi_sessions_20251119_183527
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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 18:35:28 CST
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输出目录: ./multi_sessions_20251119_183527/session_001
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结束时间: 2025年 11月 19日 星期三 18:35:44 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_183527/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 18:35:48 CST
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输出目录: ./multi_sessions_20251119_183527/session_002
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结束时间: 2025年 11月 19日 星期三 18:36:01 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_183527/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 18:36:05 CST
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输出目录: ./multi_sessions_20251119_183527/session_003
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结束时间: 2025年 11月 19日 星期三 18:36:21 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_183527/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 18:36:25 CST
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输出目录: ./multi_sessions_20251119_183527/session_004
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结束时间: 2025年 11月 19日 星期三 18:36:39 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_183527/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 18:36:44 CST
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输出目录: ./multi_sessions_20251119_183527/session_005
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结束时间: 2025年 11月 19日 星期三 18:36:59 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_183527/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 18:36:59 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_183527/
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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_183527/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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159125.370442,87.55866086116826
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159133.124559,86.76402594910616
|
| 1554 |
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159133.129551,86.76402594910616
|
| 1555 |
-
159133.135333,86.75485045132025
|
| 1556 |
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159133.139561,86.75485045132025
|
| 1557 |
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159133.144941,86.75485045132025
|
| 1558 |
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159133.149887,86.76402594910616
|
| 1559 |
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159133.154565,86.75485045132025
|
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159133.159555,86.75485045132025
|
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159133.165705,86.75485045132025
|
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159133.169559,86.75485045132025
|
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159133.174576,86.75485045132025
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159133.179556,86.75485045132025
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159133.184729,86.75485045132025
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159133.190058,86.75485045132025
|
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159133.194564,86.76402594910616
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159133.202661,86.75485045132025
|
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159133.206315,86.75485045132025
|
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159133.209674,86.75485045132025
|
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159133.216194,86.75485045132025
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159133.219555,86.75485045132025
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159133.224559,86.75485045132025
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159133.229555,86.75485045132025
|
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159133.234561,86.75485045132025
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159133.239558,86.76402594910616
|
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159133.24982,86.75485045132025
|
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159133.254757,86.75485045132025
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159133.260207,86.76402594910616
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159133.264618,86.76402594910616
|
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159133.269561,86.76402594910616
|
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159133.274552,86.76402594910616
|
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159133.280746,86.76402594910616
|
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159133.284626,86.75485045132025
|
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159133.289547,86.75485045132025
|
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159133.294965,86.76402594910616
|
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159133.302655,86.76402594910616
|
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159133.306307,86.76402594910616
|
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159133.310008,86.75485045132025
|
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159133.314663,86.75485045132025
|
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159133.319585,86.76402594910616
|
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159133.324552,86.76402594910616
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159133.329542,86.76402594910616
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159133.335879,86.76402594910616
|
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159133.344791,86.76402594910616
|
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159133.349696,86.76402594910616
|
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159133.354585,86.76402594910616
|
| 1600 |
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159133.360106,86.76402594910616
|
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159133.365395,86.76402594910616
|
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159133.369573,86.76402594910616
|
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159133.374553,86.76402594910616
|
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159133.379542,86.77320050107619
|
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159133.384577,86.76402594910616
|
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159133.389548,86.76402594910616
|
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159133.394553,86.77320050107619
|
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159133.400294,86.76402594910616
|
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159133.404553,86.76402594910616
|
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159133.409547,86.76402594910616
|
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159133.415987,86.76402594910616
|
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159133.419545,86.76402594910616
|
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159133.424547,86.76402594910616
|
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159133.429544,86.76402594910616
|
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159133.435317,86.76402594910616
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159133.439643,86.76402594910616
|
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159133.444545,86.76402594910616
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159133.449572,86.76402594910616
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159133.45455,86.76402594910616
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159133.460187,86.76402594910616
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159133.464589,86.76402594910616
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159133.469547,86.77320050107619
|
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159133.474558,86.77320050107619
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159133.479525,86.76402594910616
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159133.485266,86.76402594910616
|
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159133.489529,86.76402594910616
|
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159133.494539,86.76402594910616
|
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159133.501516,86.77320050107619
|
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159133.505277,86.77320050107619
|
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159133.509526,86.76402594910616
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159133.514728,86.76402594910616
|
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159133.520038,86.76402594910616
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159133.524531,86.77320050107619
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159133.529525,86.76402594910616
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159133.536405,86.76402594910616
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159133.539532,86.76402594910616
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159133.544586,86.76402594910616
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159133.550537,86.76402594910616
|
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159133.554564,86.76402594910616
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| 1640 |
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159133.559832,86.77320050107619
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| 1641 |
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159133.565504,86.77320050107619
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159133.569528,86.77320050107619
|
| 1643 |
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159133.574537,86.76402594910616
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159133.579526,86.77320050107619
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159133.58457,86.76402594910616
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159133.58982,86.76402594910616
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159133.59458,86.76402594910616
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159133.600518,86.76402594910616
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| 1649 |
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159133.604531,86.75485045132025
|
| 1650 |
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159133.609531,86.76402594910616
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159133.61538,86.76402594910616
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159133.61953,86.76402594910616
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159133.624533,86.76402594910616
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159133.629556,86.76402594910616
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159133.635937,86.77320050107619
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159133.639567,86.76402594910616
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159133.644936,86.77320050107619
|
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159133.650951,86.76402594910616
|
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159133.654542,86.76402594910616
|
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159133.659528,86.76402594910616
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159133.664776,86.77320050107619
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159133.669529,86.77320050107619
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159133.674537,86.77320050107619
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|
multi_sessions_20251119_183527/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1662 +0,0 @@
|
|
| 1 |
-
159125.370442000 87.55866086116826
|
| 2 |
-
159125.375115000 87.55866086116826
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| 3 |
-
159125.380062000 87.55866086116826
|
| 4 |
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159125.385140000 87.55866086116826
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| 5 |
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159125.390162000 87.55866086116826
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| 6 |
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159125.395128000 87.55866086116826
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| 7 |
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159125.400455000 87.55866086116826
|
| 8 |
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159125.405276000 87.55866086116826
|
| 9 |
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159125.410068000 87.55866086116826
|
| 10 |
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159125.415828000 87.54956808582004
|
| 11 |
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159125.420171000 87.55866086116826
|
| 12 |
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159125.425174000 87.55866086116826
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| 13 |
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159125.430064000 87.55866086116826
|
| 14 |
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159125.437923000 87.55866086116826
|
| 15 |
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159125.440819000 87.55866086116826
|
| 16 |
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159125.445071000 87.54956808582004
|
| 17 |
-
159125.450492000 87.54956808582004
|
| 18 |
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159125.455495000 87.54956808582004
|
| 19 |
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159125.460067000 87.55866086116826
|
| 20 |
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159125.465344000 87.55866086116826
|
| 21 |
-
159125.470186000 87.55866086116826
|
| 22 |
-
159125.475091000 87.55866086116826
|
| 23 |
-
159125.480134000 87.55866086116826
|
| 24 |
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159125.485288000 87.55866086116826
|
| 25 |
-
159125.490458000 87.55866086116826
|
| 26 |
-
159125.495382000 87.55866086116826
|
| 27 |
-
159125.503761000 87.55866086116826
|
| 28 |
-
159125.506835000 87.55866086116826
|
| 29 |
-
159125.510761000 87.55866086116826
|
| 30 |
-
159125.515113000 87.54956808582004
|
| 31 |
-
159125.520065000 87.54956808582004
|
| 32 |
-
159125.525053000 87.54956808582004
|
| 33 |
-
159125.530048000 87.54956808582004
|
| 34 |
-
159125.537769000 87.55866086116826
|
| 35 |
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159125.540835000 87.55866086116826
|
| 36 |
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159125.545868000 87.55866086116826
|
| 37 |
-
159125.550113000 87.55866086116826
|
| 38 |
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159125.555958000 87.55866086116826
|
| 39 |
-
159125.560294000 87.55866086116826
|
| 40 |
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159125.565384000 87.55866086116826
|
| 41 |
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159125.570400000 87.55866086116826
|
| 42 |
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159125.575071000 87.55866086116826
|
| 43 |
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159125.580048000 87.55866086116826
|
| 44 |
-
159125.585124000 87.55866086116826
|
| 45 |
-
159125.590111000 87.55866086116826
|
| 46 |
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159125.595113000 87.55866086116826
|
| 47 |
-
159125.600433000 87.54956808582004
|
| 48 |
-
159125.605099000 87.54956808582004
|
| 49 |
-
159125.610054000 87.55866086116826
|
| 50 |
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159125.615053000 87.55866086116826
|
| 51 |
-
159125.620076000 87.55866086116826
|
| 52 |
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159125.625055000 87.55866086116826
|
| 53 |
-
159125.630049000 87.54956808582004
|
| 54 |
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159125.638067000 87.54956808582004
|
| 55 |
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159125.641804000 87.55866086116826
|
| 56 |
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159125.645200000 87.55866086116826
|
| 57 |
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159125.650623000 87.55866086116826
|
| 58 |
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159125.655463000 87.55866086116826
|
| 59 |
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159125.660052000 87.55866086116826
|
| 60 |
-
159125.665399000 87.54956808582004
|
| 61 |
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159125.670190000 87.54956808582004
|
| 62 |
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159125.675092000 87.54956808582004
|
| 63 |
-
159125.680075000 87.54956808582004
|
| 64 |
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159125.685316000 87.54956808582004
|
| 65 |
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159125.690594000 87.54956808582004
|
| 66 |
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159125.695369000 87.54956808582004
|
| 67 |
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159125.700390000 87.55866086116826
|
| 68 |
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159125.705075000 87.54956808582004
|
| 69 |
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159125.710057000 87.55866086116826
|
| 70 |
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159125.715352000 87.55866086116826
|
| 71 |
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159125.720058000 87.55866086116826
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| 72 |
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159125.725033000 87.55866086116826
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| 73 |
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159125.730028000 87.55866086116826
|
| 74 |
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159125.737818000 87.54956808582004
|
| 75 |
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159125.740802000 87.54956808582004
|
| 76 |
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159125.745081000 87.54956808582004
|
| 77 |
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159125.750056000 87.54956808582004
|
| 78 |
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159125.755962000 87.54956808582004
|
| 79 |
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159125.760197000 87.54956808582004
|
| 80 |
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159125.765378000 87.55866086116826
|
| 81 |
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159125.770486000 87.55866086116826
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| 82 |
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159125.775097000 87.55866086116826
|
| 83 |
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159125.780063000 87.55866086116826
|
| 84 |
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159125.785185000 87.55866086116826
|
| 85 |
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159125.790087000 87.55866086116826
|
| 86 |
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159125.795045000 87.55866086116826
|
| 87 |
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159125.800578000 87.55866086116826
|
| 88 |
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159125.805131000 87.55866086116826
|
| 89 |
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159125.810057000 87.55866086116826
|
| 90 |
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159125.815032000 87.55866086116826
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| 91 |
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159125.820069000 87.55866086116826
|
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159125.825034000 87.55866086116826
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| 93 |
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159125.830029000 87.55866086116826
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| 94 |
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159125.837942000 87.54956808582004
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| 95 |
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159125.840812000 87.54956808582004
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| 96 |
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159125.845199000 87.54956808582004
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| 97 |
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159125.850785000 87.55866086116826
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| 98 |
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159125.855627000 87.55866086116826
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159125.860308000 87.55866086116826
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| 100 |
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159125.865385000 87.54956808582004
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| 101 |
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159125.870224000 87.54956808582004
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| 102 |
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159125.875046000 87.55866086116826
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159125.880068000 87.55866086116826
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| 104 |
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159125.885228000 87.55866086116826
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159125.890366000 87.55866086116826
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| 106 |
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159125.895090000 87.54956808582004
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| 107 |
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159125.901230000 87.55866086116826
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| 108 |
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159125.905031000 87.55866086116826
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| 109 |
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159125.910557000 87.55866086116826
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| 110 |
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159125.915321000 87.55866086116826
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| 111 |
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159125.920030000 87.55866086116826
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159125.925032000 87.55866086116826
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| 113 |
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159125.930011000 87.55866086116826
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| 114 |
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159125.937875000 87.55866086116826
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159125.945136000 87.55866086116826
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159125.950113000 87.55866086116826
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159125.960024000 87.55866086116826
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159125.965168000 87.54956808582004
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159125.970406000 87.55866086116826
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159125.975086000 87.55866086116826
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| 123 |
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159125.980012000 87.55866086116826
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159125.985073000 87.55866086116826
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159125.990045000 87.55866086116826
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| 126 |
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159125.995015000 87.55866086116826
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159126.000073000 87.55866086116826
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159126.005018000 87.54956808582004
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159126.010019000 87.54956808582004
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159126.015355000 87.54956808582004
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| 132 |
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159126.025017000 87.55866086116826
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159126.030012000 87.55866086116826
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159126.037933000 87.55866086116826
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159126.041787000 87.55866086116826
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| 136 |
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159126.045324000 87.55866086116826
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| 137 |
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159126.050878000 87.55866086116826
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| 138 |
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159126.055099000 87.55866086116826
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159126.060151000 87.55866086116826
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| 140 |
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159126.065011000 87.55866086116826
|
| 141 |
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159126.070161000 87.55866086116826
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| 142 |
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159126.075081000 87.55866086116826
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159126.080010000 87.55866086116826
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159126.085176000 87.55866086116826
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| 145 |
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159126.090381000 87.55866086116826
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159126.095053000 87.54956808582004
|
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159126.102210000 87.55866086116826
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| 148 |
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159126.105772000 87.55866086116826
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159126.110779000 87.55866086116826
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159126.115234000 87.55866086116826
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| 151 |
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159126.120014000 87.56775268056596
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159126.125017000 87.56775268056596
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159126.130010000 87.55866086116826
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159126.137744000 87.55866086116826
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159126.140818000 87.55866086116826
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159126.179999000 87.55866086116826
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159126.185040000 87.55866086116826
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159126.190006000 87.55866086116826
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159126.194998000 87.55866086116826
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159126.200622000 87.55866086116826
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159126.315408000 87.55866086116826
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159126.320068000 87.55866086116826
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159126.325000000 87.55866086116826
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159126.329993000 87.55866086116826
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159126.344998000 87.55866086116826
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159126.360045000 87.56775268056596
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159126.365250000 87.55866086116826
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multi_sessions_20251119_183527/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: 831
|
| 19 |
-
均值融合 (都低速): 831
|
| 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 18:35:41
|
| 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_183527/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183527/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
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multi_sessions_20251119_183527/session_001/RGB_Images/timestamps.csv
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|
multi_sessions_20251119_183527/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:1ad4925e1eac9c6143d063c047008983f8244661bbd4a75d357de2268036ba5c
|
| 3 |
-
size 4019504
|
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|
multi_sessions_20251119_183527/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183527/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: 159125.369980s
|
| 6 |
-
Vive 第一帧时间戳: 1763548531.252439s
|
| 7 |
-
计算的 offset: -1763389405.882458s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.882458
|
| 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 18:35:41
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
|
|
|
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|
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|
multi_sessions_20251119_183527/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_183527/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1493 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
159143.703925,87.30370222614593
|
| 3 |
-
159143.7089,87.30370222614593
|
| 4 |
-
159143.716595,87.30370222614593
|
| 5 |
-
159143.719637,87.30370222614593
|
| 6 |
-
159143.724749,87.30370222614593
|
| 7 |
-
159143.731804,87.30370222614593
|
| 8 |
-
159143.734879,87.30370222614593
|
| 9 |
-
159143.738902,87.30370222614593
|
| 10 |
-
159143.74397,87.30370222614593
|
| 11 |
-
159143.749458,87.30370222614593
|
| 12 |
-
159143.753911,87.30370222614593
|
| 13 |
-
159143.758898,87.30370222614593
|
| 14 |
-
159143.764025,87.30370222614593
|
| 15 |
-
159143.768906,87.30370222614593
|
| 16 |
-
159143.773911,87.30370222614593
|
| 17 |
-
159143.782156,87.30370222614593
|
| 18 |
-
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| 1467 |
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159151.030311,87.5131874272411
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| 1468 |
-
159151.033499,87.5131874272411
|
| 1469 |
-
159151.03843,87.5131874272411
|
| 1470 |
-
159151.043448,87.50408987387988
|
| 1471 |
-
159151.048437,87.5131874272411
|
| 1472 |
-
159151.053438,87.52228402523176
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| 1473 |
-
159151.058871,87.52228402523176
|
| 1474 |
-
159151.063712,87.5131874272411
|
| 1475 |
-
159151.068434,87.5131874272411
|
| 1476 |
-
159151.073436,87.5131874272411
|
| 1477 |
-
159151.078802,87.5131874272411
|
| 1478 |
-
159151.083466,87.5131874272411
|
| 1479 |
-
159151.088427,87.50408987387988
|
| 1480 |
-
159151.093617,87.5131874272411
|
| 1481 |
-
159151.098431,87.5131874272411
|
| 1482 |
-
159151.10343,87.5131874272411
|
| 1483 |
-
159151.108424,87.50408987387988
|
| 1484 |
-
159151.115278,87.5131874272411
|
| 1485 |
-
159151.118426,87.5131874272411
|
| 1486 |
-
159151.123651,87.52228402523176
|
| 1487 |
-
159151.130093,87.5131874272411
|
| 1488 |
-
159151.133436,87.5131874272411
|
| 1489 |
-
159151.138428,87.5131874272411
|
| 1490 |
-
159151.143436,87.5131874272411
|
| 1491 |
-
159151.148628,87.50408987387988
|
| 1492 |
-
159151.153467,87.5131874272411
|
| 1493 |
-
159151.158425,87.5131874272411
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|
multi_sessions_20251119_183527/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1492 +0,0 @@
|
|
| 1 |
-
159143.703925000 87.30370222614593
|
| 2 |
-
159143.708900000 87.30370222614593
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| 3 |
-
159143.716595000 87.30370222614593
|
| 4 |
-
159143.719637000 87.30370222614593
|
| 5 |
-
159143.724749000 87.30370222614593
|
| 6 |
-
159143.731804000 87.30370222614593
|
| 7 |
-
159143.734879000 87.30370222614593
|
| 8 |
-
159143.738902000 87.30370222614593
|
| 9 |
-
159143.743970000 87.30370222614593
|
| 10 |
-
159143.749458000 87.30370222614593
|
| 11 |
-
159143.753911000 87.30370222614593
|
| 12 |
-
159143.758898000 87.30370222614593
|
| 13 |
-
159143.764025000 87.30370222614593
|
| 14 |
-
159143.768906000 87.30370222614593
|
| 15 |
-
159143.773911000 87.30370222614593
|
| 16 |
-
159143.782156000 87.30370222614593
|
| 17 |
-
159143.785641000 87.30370222614593
|
| 18 |
-
159143.789173000 87.30370222614593
|
| 19 |
-
159143.794129000 87.30370222614593
|
| 20 |
-
159143.799182000 87.29458273130982
|
| 21 |
-
159143.803906000 87.30370222614593
|
| 22 |
-
159143.808899000 87.30370222614593
|
| 23 |
-
159143.816472000 87.30370222614593
|
| 24 |
-
159143.819640000 87.30370222614593
|
| 25 |
-
159143.824247000 87.30370222614593
|
| 26 |
-
159143.831665000 87.30370222614593
|
| 27 |
-
159143.834705000 87.30370222614593
|
| 28 |
-
159143.838903000 87.30370222614593
|
| 29 |
-
159143.843948000 87.30370222614593
|
| 30 |
-
159143.849663000 87.30370222614593
|
| 31 |
-
159143.853909000 87.30370222614593
|
| 32 |
-
159143.858921000 87.30370222614593
|
| 33 |
-
159143.864186000 87.30370222614593
|
| 34 |
-
159143.868905000 87.30370222614593
|
| 35 |
-
159143.873914000 87.30370222614593
|
| 36 |
-
159143.879977000 87.29458273130982
|
| 37 |
-
159143.883964000 87.29458273130982
|
| 38 |
-
159143.889217000 87.29458273130982
|
| 39 |
-
159143.894415000 87.29458273130982
|
| 40 |
-
159143.898893000 87.30370222614593
|
| 41 |
-
159143.903922000 87.30370222614593
|
| 42 |
-
159143.908883000 87.30370222614593
|
| 43 |
-
159143.916340000 87.30370222614593
|
| 44 |
-
159143.919626000 87.30370222614593
|
| 45 |
-
159143.924509000 87.30370222614593
|
| 46 |
-
159143.930961000 87.30370222614593
|
| 47 |
-
159143.934663000 87.30370222614593
|
| 48 |
-
159143.938890000 87.29458273130982
|
| 49 |
-
159143.943888000 87.29458273130982
|
| 50 |
-
159143.949314000 87.30370222614593
|
| 51 |
-
159143.953968000 87.30370222614593
|
| 52 |
-
159143.958885000 87.30370222614593
|
| 53 |
-
159143.964139000 87.30370222614593
|
| 54 |
-
159143.968894000 87.30370222614593
|
| 55 |
-
159143.973947000 87.30370222614593
|
| 56 |
-
159143.978984000 87.30370222614593
|
| 57 |
-
159143.983941000 87.30370222614593
|
| 58 |
-
159143.989180000 87.29458273130982
|
| 59 |
-
159143.994057000 87.29458273130982
|
| 60 |
-
159143.999201000 87.30370222614593
|
| 61 |
-
159144.003894000 87.30370222614593
|
| 62 |
-
159144.008887000 87.30370222614593
|
| 63 |
-
159144.016295000 87.30370222614593
|
| 64 |
-
159144.019624000 87.30370222614593
|
| 65 |
-
159144.024203000 87.30370222614593
|
| 66 |
-
159144.029154000 87.30370222614593
|
| 67 |
-
159144.034713000 87.30370222614593
|
| 68 |
-
159144.038889000 87.30370222614593
|
| 69 |
-
159144.043891000 87.30370222614593
|
| 70 |
-
159144.049674000 87.30370222614593
|
| 71 |
-
159144.053910000 87.30370222614593
|
| 72 |
-
159144.058911000 87.30370222614593
|
| 73 |
-
159144.064048000 87.29458273130982
|
| 74 |
-
159144.068884000 87.29458273130982
|
| 75 |
-
159144.073900000 87.29458273130982
|
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multi_sessions_20251119_183527/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: 746
|
| 19 |
-
均值融合 (都低速): 746
|
| 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 18:35:58
|
| 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_183527/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183527/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183527/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,448 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159143.698762
|
| 3 |
-
1,159143.715985
|
| 4 |
-
2,159143.73201
|
| 5 |
-
3,159143.74872
|
| 6 |
-
4,159143.76506
|
| 7 |
-
5,159143.782437
|
| 8 |
-
6,159143.798706
|
| 9 |
-
7,159143.81569
|
| 10 |
-
8,159143.831857
|
| 11 |
-
9,159143.848932
|
| 12 |
-
10,159143.865157
|
| 13 |
-
11,159143.88236
|
| 14 |
-
12,159143.898338
|
| 15 |
-
13,159143.915772
|
| 16 |
-
14,159143.931882
|
| 17 |
-
15,159143.948619
|
| 18 |
-
16,159143.965093
|
| 19 |
-
17,159143.982468
|
| 20 |
-
18,159143.998727
|
| 21 |
-
19,159144.015664
|
| 22 |
-
20,159144.032793
|
| 23 |
-
21,159144.04898
|
| 24 |
-
22,159144.06522
|
| 25 |
-
23,159144.082158
|
| 26 |
-
24,159144.098658
|
| 27 |
-
25,159144.115754
|
| 28 |
-
26,159144.131909
|
| 29 |
-
27,159144.148706
|
| 30 |
-
28,159144.164934
|
| 31 |
-
29,159144.182463
|
| 32 |
-
30,159144.198805
|
| 33 |
-
31,159144.215763
|
| 34 |
-
32,159144.231716
|
| 35 |
-
33,159144.24858
|
| 36 |
-
34,159144.265183
|
| 37 |
-
35,159144.282278
|
| 38 |
-
36,159144.298573
|
| 39 |
-
37,159144.315747
|
| 40 |
-
38,159144.331985
|
| 41 |
-
39,159144.348576
|
| 42 |
-
40,159144.364987
|
| 43 |
-
41,159144.381984
|
| 44 |
-
42,159144.398687
|
| 45 |
-
43,159144.415743
|
| 46 |
-
44,159144.431602
|
| 47 |
-
45,159144.448468
|
| 48 |
-
46,159144.46526
|
| 49 |
-
47,159144.482357
|
| 50 |
-
48,159144.49813
|
| 51 |
-
49,159144.515219
|
| 52 |
-
50,159144.532507
|
| 53 |
-
51,159144.548568
|
| 54 |
-
52,159144.564881
|
| 55 |
-
53,159144.582071
|
| 56 |
-
54,159144.598687
|
| 57 |
-
55,159144.615567
|
| 58 |
-
56,159144.631561
|
| 59 |
-
57,159144.648453
|
| 60 |
-
58,159144.665064
|
| 61 |
-
59,159144.682211
|
| 62 |
-
60,159144.698114
|
| 63 |
-
61,159144.715319
|
| 64 |
-
62,159144.732246
|
| 65 |
-
63,159144.748525
|
| 66 |
-
64,159144.764849
|
| 67 |
-
65,159144.782033
|
| 68 |
-
66,159144.800319
|
| 69 |
-
67,159144.815771
|
| 70 |
-
68,159144.83165
|
| 71 |
-
69,159144.84836
|
| 72 |
-
70,159144.865281
|
| 73 |
-
71,159144.882446
|
| 74 |
-
72,159144.89812
|
| 75 |
-
73,159144.915275
|
| 76 |
-
74,159144.932525
|
| 77 |
-
75,159144.948603
|
| 78 |
-
76,159144.964959
|
| 79 |
-
77,159144.982004
|
| 80 |
-
78,159144.998255
|
| 81 |
-
79,159145.015458
|
| 82 |
-
80,159145.031596
|
| 83 |
-
81,159145.048468
|
| 84 |
-
82,159145.064881
|
| 85 |
-
83,159145.082504
|
| 86 |
-
84,159145.098144
|
| 87 |
-
85,159145.115454
|
| 88 |
-
86,159145.131511
|
| 89 |
-
87,159145.148865
|
| 90 |
-
88,159145.165268
|
| 91 |
-
89,159145.182216
|
| 92 |
-
90,159145.1982
|
| 93 |
-
91,159145.215664
|
| 94 |
-
92,159145.231907
|
| 95 |
-
93,159145.248542
|
| 96 |
-
94,159145.265172
|
| 97 |
-
95,159145.282575
|
| 98 |
-
96,159145.298207
|
| 99 |
-
97,159145.315451
|
| 100 |
-
98,159145.331788
|
| 101 |
-
99,159145.34882
|
| 102 |
-
100,159145.365407
|
| 103 |
-
101,159145.382396
|
| 104 |
-
102,159145.398047
|
| 105 |
-
103,159145.415472
|
| 106 |
-
104,159145.431975
|
| 107 |
-
105,159145.447972
|
| 108 |
-
106,159145.464906
|
| 109 |
-
107,159145.482383
|
| 110 |
-
108,159145.498274
|
| 111 |
-
109,159145.515302
|
| 112 |
-
110,159145.531841
|
| 113 |
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multi_sessions_20251119_183527/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:e8cf7de54c26945124aeea79cb281f986ef88569b5ed8713c4ec99e0e9451868
|
| 3 |
-
size 3743268
|
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|
multi_sessions_20251119_183527/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183527/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: 159143.703978s
|
| 6 |
-
Vive 第一帧时间戳: 1763548549.582456s
|
| 7 |
-
计算的 offset: -1763389405.878478s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.878478
|
| 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 18:35:58
|
| 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_183527/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_183527/session_003/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1703 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
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159161.72273,87.54956808582004
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159169.772423,87.31282076828322
|
| 1613 |
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159169.77776,87.30370222614593
|
| 1614 |
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159169.782274,87.30370222614593
|
| 1615 |
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159169.787333,87.30370222614593
|
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159169.794083,87.30370222614593
|
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159169.797278,87.30370222614593
|
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159169.802274,87.30370222614593
|
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159169.809793,87.29458273130982
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159169.813105,87.29458273130982
|
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159169.817281,87.29458273130982
|
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159169.822278,87.30370222614593
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159169.827461,87.29458273130982
|
| 1624 |
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159169.832313,87.30370222614593
|
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159169.837287,87.29458273130982
|
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159169.842366,87.30370222614593
|
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159169.847322,87.30370222614593
|
| 1628 |
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159169.852394,87.30370222614593
|
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159169.860754,87.30370222614593
|
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159169.86402,87.29458273130982
|
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159169.867366,87.29458273130982
|
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159169.872919,87.30370222614593
|
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159169.877656,87.30370222614593
|
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159169.882342,87.31282076828322
|
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159169.887272,87.30370222614593
|
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159169.893034,87.30370222614593
|
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159169.897278,87.29458273130982
|
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159169.902399,87.29458273130982
|
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159169.907469,87.30370222614593
|
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159169.912847,87.30370222614593
|
| 1641 |
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159169.91728,87.30370222614593
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159169.922277,87.30370222614593
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159169.927569,87.30370222614593
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159169.932261,87.30370222614593
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159169.938639,87.30370222614593
|
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159169.942397,87.30370222614593
|
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159169.947275,87.30370222614593
|
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159169.952264,87.29458273130982
|
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159169.960935,87.30370222614593
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159169.963998,87.30370222614593
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159169.967566,87.30370222614593
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159169.972262,87.30370222614593
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159169.977317,87.31282076828322
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159169.982253,87.30370222614593
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159169.987251,87.30370222614593
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159169.993147,87.30370222614593
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159169.997257,87.30370222614593
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159170.002365,87.30370222614593
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159170.017359,87.31282076828322
|
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159170.022258,87.30370222614593
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159170.027414,87.31282076828322
|
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159170.032309,87.30370222614593
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159170.047254,87.30370222614593
|
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159170.052305,87.29458273130982
|
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159170.059795,87.30370222614593
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159170.067249,87.31282076828322
|
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159170.073025,87.30370222614593
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159170.078519,87.30370222614593
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159170.08725,87.30370222614593
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159170.092917,87.31282076828322
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159170.097268,87.30370222614593
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159170.102263,87.31282076828322
|
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159170.109167,87.30370222614593
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159170.112988,87.30370222614593
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159170.117378,87.30370222614593
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159170.12237,87.30370222614593
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159170.127604,87.30370222614593
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159170.132266,87.31282076828322
|
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159170.138433,87.31282076828322
|
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159170.142336,87.30370222614593
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159170.147264,87.30370222614593
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159170.167302,87.30370222614593
|
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159170.172305,87.30370222614593
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159170.17724,87.30370222614593
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159170.182242,87.30370222614593
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159170.187239,87.30370222614593
|
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159170.193884,87.30370222614593
|
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159170.197248,87.30370222614593
|
| 1698 |
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159170.202242,87.30370222614593
|
| 1699 |
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159170.208831,87.31282076828322
|
| 1700 |
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159170.212576,87.31282076828322
|
| 1701 |
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159170.217293,87.30370222614593
|
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159170.222246,87.30370222614593
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159170.227426,87.30370222614593
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multi_sessions_20251119_183527/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1702 +0,0 @@
|
|
| 1 |
-
159161.722730000 87.54956808582004
|
| 2 |
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159161.728231000 87.54956808582004
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159161.732740000 87.55866086116826
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| 38 |
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159161.907761000 87.54956808582004
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| 39 |
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159161.914493000 87.54956808582004
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| 40 |
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| 41 |
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159161.922721000 87.55866086116826
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159161.927817000 87.55866086116826
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159161.932730000 87.55866086116826
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| 44 |
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159161.937712000 87.54956808582004
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159161.942958000 87.54956808582004
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159161.958138000 87.54956808582004
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159161.963110000 87.54956808582004
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| 50 |
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159161.968042000 87.54956808582004
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159161.982734000 87.54956808582004
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159161.987734000 87.54956808582004
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159161.998454000 87.54956808582004
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159162.098450000 87.54956808582004
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159162.147740000 87.54956808582004
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multi_sessions_20251119_183527/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: 851
|
| 19 |
-
均值融合 (都低速): 851
|
| 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 18:36:17
|
| 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_183527/session_003/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_183527/session_003/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_183527/session_003/RGB_Images/timestamps.csv
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multi_sessions_20251119_183527/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:95b58c94da32c21914abe35db4d12aa2de4d298ea806f899daf9e835b4c7e955
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| 3 |
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size 4057804
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multi_sessions_20251119_183527/session_003/SLAM_Poses/slam_raw.txt
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multi_sessions_20251119_183527/session_003/Vive_Poses/offset_info.txt
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Vive 时间戳对齐信息
|
| 2 |
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============================================================
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| 3 |
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| 4 |
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对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 159161.721977s
|
| 6 |
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Vive 第一帧时间戳: 1763548567.602597s
|
| 7 |
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计算的 offset: -1763389405.880620s
|
| 8 |
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对齐公式: vive_aligned = vive_original + -1763389405.880620
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| 9 |
-
|
| 10 |
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说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
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- 时间戳已与 SLAM 数据对齐
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| 13 |
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- 坐标已转换到 Gripper 坐标系
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| 14 |
-
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| 15 |
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生成时间: 2025-11-19 18:36:17
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| 16 |
-
设备标签: main
|
| 17 |
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XV 序列号: 250801DR48FP25002087
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| 18 |
-
Vive 序列号: LHR_B728E669
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multi_sessions_20251119_183527/session_003/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_183527/session_004/Clamp_Data/clamp.csv
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timestamp,clamp
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159180.296617,87.88536321046547
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|
multi_sessions_20251119_183527/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1661 +0,0 @@
|
|
| 1 |
-
159180.296617000 87.88536321046547
|
| 2 |
-
159180.301622000 87.87630492230221
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| 3 |
-
159180.307335000 87.87630492230221
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| 4 |
-
159180.311628000 87.87630492230221
|
| 5 |
-
159180.316614000 87.88536321046547
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| 6 |
-
159180.321782000 87.88536321046547
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| 7 |
-
159180.326620000 87.88536321046547
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| 8 |
-
159180.331627000 87.88536321046547
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| 9 |
-
159180.336650000 87.88536321046547
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| 10 |
-
159180.341792000 87.88536321046547
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| 11 |
-
159180.346614000 87.88536321046547
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| 12 |
-
159180.351754000 87.89442053851148
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| 13 |
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159180.357212000 87.88536321046547
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| 14 |
-
159180.361627000 87.88536321046547
|
| 15 |
-
159180.366615000 87.87630492230221
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| 16 |
-
159180.373909000 87.88536321046547
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| 17 |
-
159180.377354000 87.88536321046547
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| 18 |
-
159180.381731000 87.88536321046547
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| 19 |
-
159180.386660000 87.88536321046547
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| 20 |
-
159180.392178000 87.88536321046547
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| 21 |
-
159180.396621000 87.88536321046547
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| 22 |
-
159180.401615000 87.88536321046547
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| 23 |
-
159180.407690000 87.88536321046547
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| 24 |
-
159180.411620000 87.87630492230221
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| 25 |
-
159180.416615000 87.87630492230221
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| 26 |
-
159180.421744000 87.87630492230221
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| 27 |
-
159180.426621000 87.88536321046547
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| 28 |
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159180.431624000 87.88536321046547
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| 29 |
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159180.436627000 87.88536321046547
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| 30 |
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159180.442185000 87.88536321046547
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| 31 |
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159180.447045000 87.89442053851148
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| 32 |
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159180.451981000 87.88536321046547
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| 33 |
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159180.456868000 87.88536321046547
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| 34 |
-
159180.461626000 87.88536321046547
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| 35 |
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159180.466619000 87.87630492230221
|
| 36 |
-
159180.471936000 87.88536321046547
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| 37 |
-
159180.477579000 87.88536321046547
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| 38 |
-
159180.481650000 87.88536321046547
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| 39 |
-
159180.486619000 87.87630492230221
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| 40 |
-
159180.492020000 87.87630492230221
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| 41 |
-
159180.496610000 87.88536321046547
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| 42 |
-
159180.501613000 87.88536321046547
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| 43 |
-
159180.506632000 87.88536321046547
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| 44 |
-
159180.512220000 87.88536321046547
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| 45 |
-
159180.516605000 87.87630492230221
|
| 46 |
-
159180.521865000 87.88536321046547
|
| 47 |
-
159180.526613000 87.88536321046547
|
| 48 |
-
159180.531613000 87.88536321046547
|
| 49 |
-
159180.540264000 87.88536321046547
|
| 50 |
-
159180.543338000 87.88536321046547
|
| 51 |
-
159180.546910000 87.87630492230221
|
| 52 |
-
159180.551642000 87.87630492230221
|
| 53 |
-
159180.556774000 87.88536321046547
|
| 54 |
-
159180.561653000 87.88536321046547
|
| 55 |
-
159180.566629000 87.88536321046547
|
| 56 |
-
159180.574608000 87.88536321046547
|
| 57 |
-
159180.578334000 87.88536321046547
|
| 58 |
-
159180.581788000 87.88536321046547
|
| 59 |
-
159180.586623000 87.88536321046547
|
| 60 |
-
159180.592015000 87.87630492230221
|
| 61 |
-
159180.596609000 87.87630492230221
|
| 62 |
-
159180.601722000 87.87630492230221
|
| 63 |
-
159180.607062000 87.88536321046547
|
| 64 |
-
159180.611615000 87.88536321046547
|
| 65 |
-
159180.616630000 87.88536321046547
|
| 66 |
-
159180.622261000 87.87630492230221
|
| 67 |
-
159180.626609000 87.87630492230221
|
| 68 |
-
159180.631614000 87.87630492230221
|
| 69 |
-
159180.636603000 87.88536321046547
|
| 70 |
-
159180.642179000 87.88536321046547
|
| 71 |
-
159180.647145000 87.88536321046547
|
| 72 |
-
159180.651991000 87.88536321046547
|
| 73 |
-
159180.656854000 87.87630492230221
|
| 74 |
-
159180.661611000 87.87630492230221
|
| 75 |
-
159180.666723000 87.88536321046547
|
| 76 |
-
159180.674269000 87.87630492230221
|
| 77 |
-
159180.677334000 87.87630492230221
|
| 78 |
-
159180.682388000 87.87630492230221
|
| 79 |
-
159180.686607000 87.87630492230221
|
| 80 |
-
159180.691837000 87.88536321046547
|
| 81 |
-
159180.696591000 87.88536321046547
|
| 82 |
-
159180.701697000 87.88536321046547
|
| 83 |
-
159180.707381000 87.88536321046547
|
| 84 |
-
159180.711778000 87.88536321046547
|
| 85 |
-
159180.716589000 87.88536321046547
|
| 86 |
-
159180.721974000 87.89442053851148
|
| 87 |
-
159180.726598000 87.88536321046547
|
| 88 |
-
159180.731638000 87.88536321046547
|
| 89 |
-
159180.740483000 87.88536321046547
|
| 90 |
-
159180.743321000 87.88536321046547
|
| 91 |
-
159180.747021000 87.88536321046547
|
| 92 |
-
159180.751856000 87.88536321046547
|
| 93 |
-
159180.756823000 87.88536321046547
|
| 94 |
-
159180.761641000 87.87630492230221
|
| 95 |
-
159180.766633000 87.88536321046547
|
| 96 |
-
159180.774441000 87.88536321046547
|
| 97 |
-
159180.777319000 87.88536321046547
|
| 98 |
-
159180.781628000 87.88536321046547
|
| 99 |
-
159180.789765000 87.87630492230221
|
| 100 |
-
159180.793326000 87.88536321046547
|
| 101 |
-
159180.796595000 87.88536321046547
|
| 102 |
-
159180.801616000 87.88536321046547
|
| 103 |
-
159180.807687000 87.87630492230221
|
| 104 |
-
159180.811595000 87.88536321046547
|
| 105 |
-
159180.816589000 87.87630492230221
|
| 106 |
-
159180.822097000 87.87630492230221
|
| 107 |
-
159180.826613000 87.87630492230221
|
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| 1564 |
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159188.111159000 86.77320050107619
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| 1565 |
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159188.116144000 86.77320050107619
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159188.121201000 86.77320050107619
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| 1567 |
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159188.126153000 86.77320050107619
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| 1568 |
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159188.131238000 86.77320050107619
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| 1569 |
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159188.136437000 86.76402594910616
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| 1570 |
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159188.141194000 86.76402594910616
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| 1571 |
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159188.146149000 86.76402594910616
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| 1572 |
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159188.151715000 86.77320050107619
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159188.156337000 86.77320050107619
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159188.161152000 86.77320050107619
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159188.166185000 86.77320050107619
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159188.171237000 86.77320050107619
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159188.176205000 86.77320050107619
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159188.181646000 86.77320050107619
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159188.186555000 86.77320050107619
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159188.191424000 86.77320050107619
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159188.196143000 86.77320050107619
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159188.201148000 86.76402594910616
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159188.206677000 86.76402594910616
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159188.211136000 86.77320050107619
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159188.216132000 86.77320050107619
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159188.221201000 86.77320050107619
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159188.226136000 86.76402594910616
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159188.231146000 86.77320050107619
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159188.237936000 86.77320050107619
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159188.241168000 86.77320050107619
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159188.246126000 86.77320050107619
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159188.256408000 86.77320050107619
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159188.261128000 86.77320050107619
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159188.266126000 86.77320050107619
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159188.272149000 86.77320050107619
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159188.276130000 86.77320050107619
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159188.281526000 86.78237410711333
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159188.288588000 86.78237410711333
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159188.291864000 86.78237410711333
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159188.296129000 86.77320050107619
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159188.301129000 86.77320050107619
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159188.306134000 86.77320050107619
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159188.311140000 86.77320050107619
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159188.316127000 86.78237410711333
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159188.321304000 86.77320050107619
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159188.326135000 86.77320050107619
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159188.331135000 86.77320050107619
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159188.336880000 86.77320050107619
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159188.341133000 86.77320050107619
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| 1611 |
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159188.346142000 86.78237410711333
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| 1612 |
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159188.351137000 86.78237410711333
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| 1613 |
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159188.356361000 86.77320050107619
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| 1614 |
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159188.361140000 86.77320050107619
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| 1615 |
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159188.366182000 86.77320050107619
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159188.371302000 86.78237410711333
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159188.376130000 86.78237410711333
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159188.381136000 86.7915467671006
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159188.386150000 86.7915467671006
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159188.391561000 86.78237410711333
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159188.396377000 86.78237410711333
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159188.401130000 86.78237410711333
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159188.406485000 86.78237410711333
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159188.411121000 86.78237410711333
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159188.417223000 86.78237410711333
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159188.421280000 86.7915467671006
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| 1627 |
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159188.426134000 86.78237410711333
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159188.431216000 86.78237410711333
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159188.439035000 86.77320050107619
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159188.442836000 86.77320050107619
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159188.446111000 86.77320050107619
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159188.453566000 86.77320050107619
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159188.456845000 86.78237410711333
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159188.461201000 86.78237410711333
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159188.466108000 86.78237410711333
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159188.471977000 86.78237410711333
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159188.476114000 86.78237410711333
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159188.481512000 86.78237410711333
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159188.488238000 86.78237410711333
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159188.491863000 86.78237410711333
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159188.496112000 86.78237410711333
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159188.501113000 86.78237410711333
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159188.506569000 86.78237410711333
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159188.511122000 86.78237410711333
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159188.517080000 86.78237410711333
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| 1646 |
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159188.521622000 86.78237410711333
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| 1647 |
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159188.526199000 86.78237410711333
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159188.531127000 86.78237410711333
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159188.536985000 86.78237410711333
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| 1650 |
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159188.541113000 86.78237410711333
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159188.546161000 86.78237410711333
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159188.551243000 86.78237410711333
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159188.556201000 86.78237410711333
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159188.561113000 86.78237410711333
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| 1655 |
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159188.566108000 86.78237410711333
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159188.572846000 86.78237410711333
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159188.576111000 86.78237410711333
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159188.581115000 86.78237410711333
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159188.586148000 86.78237410711333
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159188.591364000 86.78237410711333
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159188.597201000 86.78237410711333
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multi_sessions_20251119_183527/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: 830
|
| 19 |
-
均值融合 (都低速): 830
|
| 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 18:36:36
|
| 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_183527/session_004/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183527/session_004/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183527/session_004/RGB_Images/timestamps.csv
DELETED
|
@@ -1,500 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159180.290819
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multi_sessions_20251119_183527/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:b507c0cc322b382342f8952155cb1c7abc128b8603f8e4c8c9787c1cd54ac19d
|
| 3 |
-
size 3855440
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multi_sessions_20251119_183527/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183527/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: 159180.297978s
|
| 6 |
-
Vive 第一帧时间戳: 1763548586.182454s
|
| 7 |
-
计算的 offset: -1763389405.884476s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.884476
|
| 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 18:36:36
|
| 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_183527/session_004/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
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multi_sessions_20251119_183527/session_005/Clamp_Data/clamp.csv
DELETED
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timestamp,clamp
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|
multi_sessions_20251119_183527/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1661 +0,0 @@
|
|
| 1 |
-
159199.857153000 87.46769010904983
|
| 2 |
-
159199.860594000 87.46769010904983
|
| 3 |
-
159199.868847000 87.46769010904983
|
| 4 |
-
159199.872197000 87.46769010904983
|
| 5 |
-
159199.875616000 87.46769010904983
|
| 6 |
-
159199.880427000 87.46769010904983
|
| 7 |
-
159199.887253000 87.46769010904983
|
| 8 |
-
159199.890454000 87.46769010904983
|
| 9 |
-
159199.895439000 87.46769010904983
|
| 10 |
-
159199.900485000 87.46769010904983
|
| 11 |
-
159199.905886000 87.46769010904983
|
| 12 |
-
159199.910503000 87.46769010904983
|
| 13 |
-
159199.916005000 87.476791482733
|
| 14 |
-
159199.920443000 87.46769010904983
|
| 15 |
-
159199.925457000 87.46769010904983
|
| 16 |
-
159199.930431000 87.45858778057632
|
| 17 |
-
159199.936283000 87.46769010904983
|
| 18 |
-
159199.940423000 87.46769010904983
|
| 19 |
-
159199.945425000 87.46769010904983
|
| 20 |
-
159199.953578000 87.476791482733
|
| 21 |
-
159199.957157000 87.476791482733
|
| 22 |
-
159199.960626000 87.476791482733
|
| 23 |
-
159199.965419000 87.46769010904983
|
| 24 |
-
159199.971495000 87.46769010904983
|
| 25 |
-
159199.975651000 87.46769010904983
|
| 26 |
-
159199.980843000 87.476791482733
|
| 27 |
-
159199.986665000 87.46769010904983
|
| 28 |
-
159199.990471000 87.46769010904983
|
| 29 |
-
159199.995445000 87.46769010904983
|
| 30 |
-
159200.000772000 87.46769010904983
|
| 31 |
-
159200.005466000 87.46769010904983
|
| 32 |
-
159200.010462000 87.46769010904983
|
| 33 |
-
159200.015427000 87.46769010904983
|
| 34 |
-
159200.020541000 87.46769010904983
|
| 35 |
-
159200.025420000 87.46769010904983
|
| 36 |
-
159200.030422000 87.476791482733
|
| 37 |
-
159200.037309000 87.46769010904983
|
| 38 |
-
159200.041130000 87.476791482733
|
| 39 |
-
159200.045413000 87.476791482733
|
| 40 |
-
159200.053326000 87.476791482733
|
| 41 |
-
159200.057140000 87.476791482733
|
| 42 |
-
159200.060477000 87.46769010904983
|
| 43 |
-
159200.068686000 87.46769010904983
|
| 44 |
-
159200.072190000 87.45858778057632
|
| 45 |
-
159200.075411000 87.45858778057632
|
| 46 |
-
159200.080414000 87.45858778057632
|
| 47 |
-
159200.087344000 87.46769010904983
|
| 48 |
-
159200.091212000 87.46769010904983
|
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159207.380291000 86.81905906959325
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| 1507 |
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159207.386139000 86.81905906959325
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| 1508 |
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159207.389980000 86.81905906959325
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159207.394972000 86.80988924845751
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159207.400159000 86.81905906959325
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159207.404974000 86.81905906959325
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159207.416985000 86.81905906959325
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159207.420702000 86.81905906959325
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159207.425686000 86.80988924845751
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159207.430091000 86.81905906959325
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159207.444976000 86.80988924845751
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159207.452155000 86.80988924845751
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159207.455739000 86.80988924845751
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159207.465019000 86.80988924845751
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159207.474975000 86.81905906959325
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159207.480051000 86.81905906959325
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159207.489999000 86.80988924845751
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159207.494977000 86.80988924845751
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159207.539974000 86.81905906959325
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159207.544990000 86.80988924845751
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159207.565740000 86.81905906959325
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multi_sessions_20251119_183527/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: 830
|
| 19 |
-
均值融合 (都低速): 830
|
| 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 18:36:56
|
| 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_183527/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183527/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_183527/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,499 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,159199.852675
|
| 3 |
-
1,159199.869139
|
| 4 |
-
2,159199.886587
|
| 5 |
-
3,159199.904517
|
| 6 |
-
4,159199.921248
|
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-
5,159199.935768
|
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-
6,159199.952781
|
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7,159199.969492
|
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|
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9,159200.002254
|
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10,159200.021182
|
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-
11,159200.036234
|
| 14 |
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12,159200.052567
|
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13,159200.069054
|
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14,159200.086686
|
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15,159200.104366
|
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|
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17,159200.135888
|
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18,159200.152764
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|
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20,159200.186015
|
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21,159200.202238
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|
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23,159200.236275
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24,159200.253525
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25,159200.269056
|
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-
26,159200.286511
|
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27,159200.304065
|
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|
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-
29,159200.335644
|
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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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49,159200.670018
|
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|
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51,159200.703264
|
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52,159200.721144
|
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53,159200.735743
|
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54,159200.752659
|
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55,159200.771982
|
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56,159200.786018
|
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58,159200.821341
|
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59,159200.835646
|
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60,159200.852621
|
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61,159200.870187
|
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62,159200.885672
|
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63,159200.904026
|
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64,159200.920405
|
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65,159200.935715
|
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66,159200.95252
|
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67,159200.968754
|
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68,159200.986005
|
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-
69,159201.00268
|
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70,159201.020797
|
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71,159201.035607
|
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72,159201.052847
|
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73,159201.06912
|
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74,159201.085657
|
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75,159201.104
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76,159201.120823
|
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77,159201.135792
|
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78,159201.152602
|
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79,159201.171397
|
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80,159201.187417
|
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81,159201.203883
|
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82,159201.221124
|
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83,159201.235584
|
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84,159201.2528
|
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85,159201.27017
|
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86,159201.28679
|
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87,159201.301946
|
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88,159201.321042
|
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89,159201.335842
|
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90,159201.352592
|
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91,159201.368796
|
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92,159201.386286
|
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93,159201.403869
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94,159201.421066
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95,159201.435512
|
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96,159201.452901
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97,159201.46909
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98,159201.485894
|
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99,159201.502872
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100,159201.520622
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101,159201.535607
|
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102,159201.554044
|
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103,159201.56861
|
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104,159201.585653
|
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|
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|
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107,159201.635559
|
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|
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|
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|
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|
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117,159201.80373
|
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|
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|
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|
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|
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124,159201.920888
|
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|
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|
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128,159201.985871
|
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-
129,159202.003661
|
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130,159202.019833
|
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-
131,159202.037602
|
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132,159202.052358
|
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133,159202.068852
|
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134,159202.085955
|
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135,159202.103846
|
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136,159202.12043
|
| 139 |
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137,159202.13521
|
| 140 |
-
138,159202.152601
|
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-
139,159202.168877
|
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140,159202.185641
|
| 143 |
-
141,159202.203106
|
| 144 |
-
142,159202.219874
|
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143,159202.237466
|
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144,159202.252346
|
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145,159202.268877
|
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146,159202.286151
|
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147,159202.303357
|
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148,159202.319
|
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|
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150,159202.352538
|
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151,159202.369819
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|
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153,159202.403102
|
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154,159202.418521
|
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155,159202.436296
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|
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157,159202.46887
|
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158,159202.485296
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|
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|
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|
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|
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|
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166,159202.619697
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|
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multi_sessions_20251119_183527/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 sha256:629e6a54b3c66bd19653e42e7ed6bad5b28b14c860af1321fe82714165a16e89
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| 3 |
-
size 3962562
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multi_sessions_20251119_183527/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_183527/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: 159199.855982s
|
| 6 |
-
Vive 第一帧时间戳: 1763548605.742511s
|
| 7 |
-
计算的 offset: -1763389405.886529s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.886529
|
| 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 18:36:56
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
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