Delete multi_sessions_20251119_192832
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- multi_sessions_20251119_192832/collection_summary.txt +0 -153
- multi_sessions_20251119_192832/session_001/Clamp_Data/clamp.csv +0 -1453
- multi_sessions_20251119_192832/session_001/Clamp_Data/clamp_data_tum.txt +0 -1452
- multi_sessions_20251119_192832/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_192832/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_192832/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_192832/session_001/RGB_Images/timestamps.csv +0 -437
- multi_sessions_20251119_192832/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_192832/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_192832/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_192832/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_192832/session_002/Clamp_Data/clamp.csv +0 -1532
- multi_sessions_20251119_192832/session_002/Clamp_Data/clamp_data_tum.txt +0 -1531
- multi_sessions_20251119_192832/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_192832/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_192832/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_192832/session_002/RGB_Images/timestamps.csv +0 -460
- multi_sessions_20251119_192832/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_192832/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_192832/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_192832/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_192832/session_003/Clamp_Data/clamp.csv +0 -1293
- multi_sessions_20251119_192832/session_003/Clamp_Data/clamp_data_tum.txt +0 -1292
- multi_sessions_20251119_192832/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_192832/session_003/Merged_Trajectory/merged_trajectory.csv +0 -646
- multi_sessions_20251119_192832/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_192832/session_003/RGB_Images/timestamps.csv +0 -388
- multi_sessions_20251119_192832/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_192832/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_192832/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_192832/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_192832/session_004/Clamp_Data/clamp.csv +0 -1401
- multi_sessions_20251119_192832/session_004/Clamp_Data/clamp_data_tum.txt +0 -1400
- multi_sessions_20251119_192832/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_192832/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_192832/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_192832/session_004/RGB_Images/timestamps.csv +0 -422
- multi_sessions_20251119_192832/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_192832/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_192832/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_192832/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_192832/session_005/Clamp_Data/clamp.csv +0 -1333
- multi_sessions_20251119_192832/session_005/Clamp_Data/clamp_data_tum.txt +0 -1332
- multi_sessions_20251119_192832/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_192832/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_192832/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_192832/session_005/RGB_Images/timestamps.csv +0 -401
- multi_sessions_20251119_192832/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_192832/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_192832/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_192832/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 19:28:34 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: 10
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会话间隔: 1秒
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摘要目录: ./multi_sessions_20251119_192832
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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 19:28:34 CST
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输出目录: ./multi_sessions_20251119_192832/session_001
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结束时间: 2025年 11月 19日 星期三 19:28:49 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_192832/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 19:28:50 CST
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输出目录: ./multi_sessions_20251119_192832/session_002
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结束时间: 2025年 11月 19日 星期三 19:29:08 CST
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持续时间: 18秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_192832/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 19:29:10 CST
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输出目录: ./multi_sessions_20251119_192832/session_003
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结束时间: 2025年 11月 19日 星期三 19:29:22 CST
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持续时间: 12秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_192832/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 19:29:23 CST
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输出目录: ./multi_sessions_20251119_192832/session_004
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结束时间: 2025年 11月 19日 星期三 19:29:38 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_192832/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 19:29:40 CST
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输出目录: ./multi_sessions_20251119_192832/session_005
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结束时间: 2025年 11月 19日 星期三 19:29:52 CST
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持续时间: 12秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_192832/session_005
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==========================================
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会话 6 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:29:54 CST
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输出目录: ./multi_sessions_20251119_192832/session_006
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结束时间: 2025年 11月 19日 星期三 19:30:08 CST
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持续时间: 14秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_192832/session_006
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==========================================
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会话 7 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:30:10 CST
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输出目录: ./multi_sessions_20251119_192832/session_007
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结束时间: 2025年 11月 19日 星期三 19:30:22 CST
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持续时间: 12秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_192832/session_007
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==========================================
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会话 8 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:30:24 CST
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输出目录: ./multi_sessions_20251119_192832/session_008
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结束时间: 2025年 11月 19日 星期三 19:30:38 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_192832/session_008
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==========================================
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会话 9 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:30:40 CST
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输出目录: ./multi_sessions_20251119_192832/session_009
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结束时间: 2025年 11月 19日 星期三 19:30:53 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_192832/session_009
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==========================================
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会话 10 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:30:55 CST
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输出目录: ./multi_sessions_20251119_192832/session_010
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结束时间: 2025年 11月 19日 星期三 19:31:08 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_192832/session_010
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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 19:31:08 CST
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成功会话数: 10
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失败会话数: 0
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总计划会话数: 10
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实际完成会话数: 10
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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_192832/
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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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├─ session_006/
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├─ session_007/
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├─ session_008/
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├─ session_009/
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├─ session_010/
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└─ collection_summary.txt
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multi_sessions_20251119_192832/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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162311.493304,87.98494098711389
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162318.713462,87.45858778057632
|
| 1447 |
-
162318.721472,87.45858778057632
|
| 1448 |
-
162318.724358,87.45858778057632
|
| 1449 |
-
162318.72843,87.45858778057632
|
| 1450 |
-
162318.733504,87.45858778057632
|
| 1451 |
-
162318.738643,87.45858778057632
|
| 1452 |
-
162318.743882,87.44948449742859
|
| 1453 |
-
162318.748452,87.44948449742859
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|
multi_sessions_20251119_192832/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1452 +0,0 @@
|
|
| 1 |
-
162311.493304000 87.98494098711389
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| 2 |
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162311.497940000 87.98494098711389
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| 3 |
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162311.503050000 87.98494098711389
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| 4 |
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162311.507967000 87.975893266592
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| 5 |
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162311.513236000 87.975893266592
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| 6 |
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162311.518385000 87.975893266592
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162311.522943000 87.975893266592
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| 8 |
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162311.527947000 87.975893266592
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| 9 |
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162311.533030000 87.975893266592
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162311.539554000 87.975893266592
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162311.542968000 87.975893266592
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162311.547942000 87.975893266592
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162311.554376000 87.975893266592
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162311.558001000 87.975893266592
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162311.562937000 87.975893266592
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162311.568442000 87.975893266592
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162311.572951000 87.98494098711389
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| 18 |
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162311.578401000 87.98494098711389
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| 19 |
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162311.582936000 87.975893266592
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| 20 |
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162311.589180000 87.98494098711389
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| 21 |
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162311.592945000 87.98494098711389
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162311.597941000 87.98494098711389
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| 23 |
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162311.603063000 87.98494098711389
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162311.607966000 87.975893266592
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162311.614304000 87.975893266592
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162311.617976000 87.975893266592
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162311.622966000 87.975893266592
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162311.628034000 87.975893266592
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| 29 |
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162311.632994000 87.975893266592
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162311.639038000 87.98494098711389
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| 31 |
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162311.653317000 87.975893266592
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162311.658440000 87.975893266592
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| 35 |
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162311.662960000 87.975893266592
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| 36 |
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162311.668052000 87.98494098711389
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| 37 |
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162311.677977000 87.98494098711389
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162311.683017000 87.975893266592
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162311.689006000 87.975893266592
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162311.692975000 87.975893266592
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| 42 |
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162311.697974000 87.975893266592
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162311.703050000 87.975893266592
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| 44 |
-
162311.707982000 87.975893266592
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| 45 |
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162311.714131000 87.975893266592
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| 46 |
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162311.721213000 87.975893266592
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| 47 |
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162311.724892000 87.975893266592
|
| 48 |
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162311.727974000 87.975893266592
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| 49 |
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162311.732979000 87.975893266592
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| 50 |
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162311.738704000 87.975893266592
|
| 51 |
-
162311.742972000 87.975893266592
|
| 52 |
-
162311.747975000 87.98494098711389
|
| 53 |
-
162311.754141000 87.975893266592
|
| 54 |
-
162311.758170000 87.975893266592
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| 55 |
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162311.762973000 87.975893266592
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| 56 |
-
162311.768558000 87.975893266592
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| 57 |
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162311.773479000 87.975893266592
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| 58 |
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162311.778366000 87.975893266592
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| 59 |
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162311.782968000 87.975893266592
|
| 60 |
-
162311.789211000 87.98494098711389
|
| 61 |
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162311.792979000 87.98494098711389
|
| 62 |
-
162311.797978000 87.975893266592
|
| 63 |
-
162311.803165000 87.975893266592
|
| 64 |
-
162311.807979000 87.975893266592
|
| 65 |
-
162311.814049000 87.98494098711389
|
| 66 |
-
162311.817990000 87.98494098711389
|
| 67 |
-
162311.822969000 87.98494098711389
|
| 68 |
-
162311.827976000 87.98494098711389
|
| 69 |
-
162311.832968000 87.98494098711389
|
| 70 |
-
162311.838072000 87.98494098711389
|
| 71 |
-
162311.842976000 87.975893266592
|
| 72 |
-
162311.848533000 87.98494098711389
|
| 73 |
-
162311.853365000 87.98494098711389
|
| 74 |
-
162311.857980000 87.98494098711389
|
| 75 |
-
162311.862972000 87.98494098711389
|
| 76 |
-
162311.867979000 87.98494098711389
|
| 77 |
-
162311.873651000 87.975893266592
|
| 78 |
-
162311.878344000 87.975893266592
|
| 79 |
-
162311.883369000 87.975893266592
|
| 80 |
-
162311.888939000 87.98494098711389
|
| 81 |
-
162311.892980000 87.98494098711389
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| 82 |
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162311.897980000 87.98494098711389
|
| 83 |
-
162311.903083000 87.98494098711389
|
| 84 |
-
162311.907988000 87.98494098711389
|
| 85 |
-
162311.913973000 87.98494098711389
|
| 86 |
-
162311.921026000 87.98494098711389
|
| 87 |
-
162311.923890000 87.98494098711389
|
| 88 |
-
162311.927980000 87.98494098711389
|
| 89 |
-
162311.933630000 87.975893266592
|
| 90 |
-
162311.939693000 87.975893266592
|
| 91 |
-
162311.943025000 87.975893266592
|
| 92 |
-
162311.947983000 87.975893266592
|
| 93 |
-
162311.954150000 87.98494098711389
|
| 94 |
-
162311.957984000 87.98494098711389
|
| 95 |
-
162311.962975000 87.98494098711389
|
| 96 |
-
162311.968635000 87.975893266592
|
| 97 |
-
162311.972988000 87.975893266592
|
| 98 |
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162311.978397000 87.975893266592
|
| 99 |
-
162311.982975000 87.98494098711389
|
| 100 |
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162311.989307000 87.98494098711389
|
| 101 |
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162311.993059000 87.98494098711389
|
| 102 |
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162311.997979000 87.975893266592
|
| 103 |
-
162312.003130000 87.975893266592
|
| 104 |
-
162312.008074000 87.975893266592
|
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multi_sessions_20251119_192832/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: 726
|
| 19 |
-
均值融合 (都低速): 726
|
| 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 19:28:46
|
| 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_192832/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,437 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,162311.479272
|
| 3 |
-
1,162311.49027
|
| 4 |
-
2,162311.504683
|
| 5 |
-
3,162311.521406
|
| 6 |
-
4,162311.539082
|
| 7 |
-
5,162311.555294
|
| 8 |
-
6,162311.573173
|
| 9 |
-
7,162311.588393
|
| 10 |
-
8,162311.605058
|
| 11 |
-
9,162311.621471
|
| 12 |
-
10,162311.638318
|
| 13 |
-
11,162311.655641
|
| 14 |
-
12,162311.673173
|
| 15 |
-
13,162311.688256
|
| 16 |
-
14,162311.704742
|
| 17 |
-
15,162311.721422
|
| 18 |
-
16,162311.739319
|
| 19 |
-
17,162311.755284
|
| 20 |
-
18,162311.773006
|
| 21 |
-
19,162311.788426
|
| 22 |
-
20,162311.80505
|
| 23 |
-
21,162311.821428
|
| 24 |
-
22,162311.840743
|
| 25 |
-
23,162311.854746
|
| 26 |
-
24,162311.87293
|
| 27 |
-
25,162311.888385
|
| 28 |
-
26,162311.904742
|
| 29 |
-
27,162311.921329
|
| 30 |
-
28,162311.939214
|
| 31 |
-
29,162311.955239
|
| 32 |
-
30,162311.973203
|
| 33 |
-
31,162311.98852
|
| 34 |
-
32,162312.004879
|
| 35 |
-
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|
| 36 |
-
34,162312.038385
|
| 37 |
-
35,162312.055522
|
| 38 |
-
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|
| 39 |
-
37,162312.088491
|
| 40 |
-
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|
| 41 |
-
39,162312.12139
|
| 42 |
-
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|
| 43 |
-
41,162312.155369
|
| 44 |
-
42,162312.173253
|
| 45 |
-
43,162312.188609
|
| 46 |
-
44,162312.20482
|
| 47 |
-
45,162312.221513
|
| 48 |
-
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|
| 49 |
-
47,162312.255624
|
| 50 |
-
48,162312.273227
|
| 51 |
-
49,162312.288347
|
| 52 |
-
50,162312.304787
|
| 53 |
-
51,162312.321381
|
| 54 |
-
52,162312.338295
|
| 55 |
-
53,162312.355432
|
| 56 |
-
54,162312.373218
|
| 57 |
-
55,162312.388521
|
| 58 |
-
56,162312.404687
|
| 59 |
-
57,162312.42154
|
| 60 |
-
58,162312.438422
|
| 61 |
-
59,162312.455288
|
| 62 |
-
60,162312.475849
|
| 63 |
-
61,162312.488828
|
| 64 |
-
62,162312.504849
|
| 65 |
-
63,162312.521409
|
| 66 |
-
64,162312.538246
|
| 67 |
-
65,162312.555559
|
| 68 |
-
66,162312.573263
|
| 69 |
-
67,162312.588521
|
| 70 |
-
68,162312.604692
|
| 71 |
-
69,162312.621967
|
| 72 |
-
70,162312.638278
|
| 73 |
-
71,162312.655252
|
| 74 |
-
72,162312.675762
|
| 75 |
-
73,162312.68904
|
| 76 |
-
74,162312.704828
|
| 77 |
-
75,162312.721327
|
| 78 |
-
76,162312.738208
|
| 79 |
-
77,162312.75563
|
| 80 |
-
78,162312.772844
|
| 81 |
-
79,162312.788368
|
| 82 |
-
80,162312.804742
|
| 83 |
-
81,162312.821378
|
| 84 |
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82,162312.838324
|
| 85 |
-
83,162312.854611
|
| 86 |
-
84,162312.875365
|
| 87 |
-
85,162312.888849
|
| 88 |
-
86,162312.909358
|
| 89 |
-
87,162312.921324
|
| 90 |
-
88,162312.938258
|
| 91 |
-
89,162312.955662
|
| 92 |
-
90,162312.97292
|
| 93 |
-
91,162312.988378
|
| 94 |
-
92,162313.004763
|
| 95 |
-
93,162313.021379
|
| 96 |
-
94,162313.038988
|
| 97 |
-
95,162313.05485
|
| 98 |
-
96,162313.075238
|
| 99 |
-
97,162313.088817
|
| 100 |
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98,162313.10692
|
| 101 |
-
99,162313.121602
|
| 102 |
-
100,162313.138233
|
| 103 |
-
101,162313.155444
|
| 104 |
-
102,162313.173185
|
| 105 |
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103,162313.188666
|
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104,162313.204821
|
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105,162313.22126
|
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106,162313.239067
|
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107,162313.2547
|
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108,162313.275378
|
| 111 |
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109,162313.288773
|
| 112 |
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110,162313.307
|
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111,162313.321158
|
| 114 |
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112,162313.337768
|
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113,162313.354649
|
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|
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-
115,162313.388824
|
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116,162313.40929
|
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-
117,162313.421305
|
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118,162313.439129
|
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119,162313.454721
|
| 122 |
-
120,162313.475293
|
| 123 |
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121,162313.488995
|
| 124 |
-
122,162313.513295
|
| 125 |
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123,162313.525816
|
| 126 |
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124,162313.537737
|
| 127 |
-
125,162313.555391
|
| 128 |
-
126,162313.573039
|
| 129 |
-
127,162313.5884
|
| 130 |
-
128,162313.604723
|
| 131 |
-
129,162313.621355
|
| 132 |
-
130,162313.639106
|
| 133 |
-
131,162313.654937
|
| 134 |
-
132,162313.675149
|
| 135 |
-
133,162313.688966
|
| 136 |
-
134,162313.710631
|
| 137 |
-
135,162313.721864
|
| 138 |
-
136,162313.74132
|
| 139 |
-
137,162313.755014
|
| 140 |
-
138,162313.774934
|
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-
139,162313.78882
|
| 142 |
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140,162313.804576
|
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|
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142,162313.841251
|
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143,162313.854942
|
| 146 |
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144,162313.873878
|
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-
145,162313.888412
|
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146,162313.904645
|
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147,162313.921682
|
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148,162313.940914
|
| 151 |
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149,162313.954817
|
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150,162313.974736
|
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-
151,162313.98886
|
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152,162314.004658
|
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153,162314.02146
|
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154,162314.040953
|
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155,162314.055293
|
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156,162314.071391
|
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157,162314.088252
|
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158,162314.108506
|
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159,162314.121377
|
| 162 |
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160,162314.140778
|
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multi_sessions_20251119_192832/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:a3a7731cf52bb8d4691a4d85b5278f60322b52f5e7083eb37b5ba89ad3635751
|
| 3 |
-
size 3413444
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multi_sessions_20251119_192832/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/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: 162311.491466s
|
| 6 |
-
Vive 第一帧时间戳: 1763551717.371947s
|
| 7 |
-
计算的 offset: -1763389405.880481s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.880481
|
| 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 19:28:46
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_192832/session_001/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_192832/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1532 +0,0 @@
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timestamp,clamp
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|
multi_sessions_20251119_192832/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1531 +0,0 @@
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| 1 |
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162329.940006000 87.91253231378958
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162330.704337000 87.80380406664018
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multi_sessions_20251119_192832/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: 764
|
| 19 |
-
均值融合 (都低速): 764
|
| 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 19:29:05
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
|
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|
multi_sessions_20251119_192832/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,460 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,162329.938768
|
| 3 |
-
1,162329.952903
|
| 4 |
-
2,162329.974568
|
| 5 |
-
3,162329.986695
|
| 6 |
-
4,162330.003126
|
| 7 |
-
5,162330.020356
|
| 8 |
-
6,162330.039005
|
| 9 |
-
7,162330.053194
|
| 10 |
-
8,162330.074705
|
| 11 |
-
9,162330.086439
|
| 12 |
-
10,162330.103446
|
| 13 |
-
11,162330.119953
|
| 14 |
-
12,162330.138639
|
| 15 |
-
13,162330.152844
|
| 16 |
-
14,162330.174743
|
| 17 |
-
15,162330.186806
|
| 18 |
-
16,162330.203149
|
| 19 |
-
17,162330.219887
|
| 20 |
-
18,162330.240971
|
| 21 |
-
19,162330.253016
|
| 22 |
-
20,162330.274517
|
| 23 |
-
21,162330.286736
|
| 24 |
-
22,162330.303414
|
| 25 |
-
23,162330.320013
|
| 26 |
-
24,162330.33791
|
| 27 |
-
25,162330.353168
|
| 28 |
-
26,162330.372332
|
| 29 |
-
27,162330.386261
|
| 30 |
-
28,162330.403038
|
| 31 |
-
29,162330.419844
|
| 32 |
-
30,162330.43937
|
| 33 |
-
31,162330.453036
|
| 34 |
-
32,162330.472261
|
| 35 |
-
33,162330.48618
|
| 36 |
-
34,162330.503025
|
| 37 |
-
35,162330.519969
|
| 38 |
-
36,162330.536524
|
| 39 |
-
37,162330.553673
|
| 40 |
-
38,162330.574808
|
| 41 |
-
39,162330.586858
|
| 42 |
-
40,162330.603144
|
| 43 |
-
41,162330.619839
|
| 44 |
-
42,162330.640845
|
| 45 |
-
43,162330.653131
|
| 46 |
-
44,162330.669708
|
| 47 |
-
45,162330.686201
|
| 48 |
-
46,162330.702874
|
| 49 |
-
47,162330.720039
|
| 50 |
-
48,162330.73675
|
| 51 |
-
49,162330.75358
|
| 52 |
-
50,162330.774834
|
| 53 |
-
51,162330.786944
|
| 54 |
-
52,162330.803063
|
| 55 |
-
53,162330.819748
|
| 56 |
-
54,162330.840915
|
| 57 |
-
55,162330.853166
|
| 58 |
-
56,162330.869661
|
| 59 |
-
57,162330.88633
|
| 60 |
-
58,162330.902846
|
| 61 |
-
59,162330.919964
|
| 62 |
-
60,162330.93869
|
| 63 |
-
61,162330.952936
|
| 64 |
-
62,162330.969555
|
| 65 |
-
63,162330.986434
|
| 66 |
-
64,162331.003033
|
| 67 |
-
65,162331.01974
|
| 68 |
-
66,162331.039431
|
| 69 |
-
67,162331.053208
|
| 70 |
-
68,162331.069675
|
| 71 |
-
69,162331.086125
|
| 72 |
-
70,162331.102901
|
| 73 |
-
71,162331.119939
|
| 74 |
-
72,162331.136692
|
| 75 |
-
73,162331.1536
|
| 76 |
-
74,162331.174815
|
| 77 |
-
75,162331.187016
|
| 78 |
-
76,162331.203072
|
| 79 |
-
77,162331.219855
|
| 80 |
-
78,162331.239553
|
| 81 |
-
79,162331.252967
|
| 82 |
-
80,162331.269889
|
| 83 |
-
81,162331.286159
|
| 84 |
-
82,162331.302931
|
| 85 |
-
83,162331.320091
|
| 86 |
-
84,162331.336517
|
| 87 |
-
85,162331.352962
|
| 88 |
-
86,162331.369466
|
| 89 |
-
87,162331.386205
|
| 90 |
-
88,162331.402993
|
| 91 |
-
89,162331.419797
|
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|
multi_sessions_20251119_192832/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:ec3bf1734df370cec14d4aaffec834b5d2a74d86ee2159c505194f636068a4e9
|
| 3 |
-
size 3363078
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|
multi_sessions_20251119_192832/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/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: 162329.937466s
|
| 6 |
-
Vive 第一帧时间戳: 1763551735.821873s
|
| 7 |
-
计算的 offset: -1763389405.884407s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.884407
|
| 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 19:29:05
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
|
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|
multi_sessions_20251119_192832/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_192832/session_003/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1293 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
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162345.755173,87.8672456741372
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162351.941091,87.2580952273033
|
| 1240 |
-
162351.945616,87.24897097071786
|
| 1241 |
-
162351.952363,87.2580952273033
|
| 1242 |
-
162351.955642,87.2580952273033
|
| 1243 |
-
162351.96064,87.26721853177159
|
| 1244 |
-
162351.966205,87.2580952273033
|
| 1245 |
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162351.970665,87.2580952273033
|
| 1246 |
-
162351.976274,87.24897097071786
|
| 1247 |
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162351.983805,87.24897097071786
|
| 1248 |
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162351.988526,87.2580952273033
|
| 1249 |
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162351.991668,87.2580952273033
|
| 1250 |
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162351.995629,87.2580952273033
|
| 1251 |
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162352.0017,87.2580952273033
|
| 1252 |
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162352.005619,87.2580952273033
|
| 1253 |
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162352.010628,87.24897097071786
|
| 1254 |
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162352.016228,87.2580952273033
|
| 1255 |
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162352.020796,87.2580952273033
|
| 1256 |
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162352.025618,87.2580952273033
|
| 1257 |
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162352.030623,87.2580952273033
|
| 1258 |
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162352.035856,87.2580952273033
|
| 1259 |
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162352.040778,87.2580952273033
|
| 1260 |
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162352.045617,87.2580952273033
|
| 1261 |
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162352.051777,87.2580952273033
|
| 1262 |
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162352.05569,87.2580952273033
|
| 1263 |
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162352.060646,87.2580952273033
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| 1264 |
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162352.065792,87.2580952273033
|
| 1265 |
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162352.070696,87.2580952273033
|
| 1266 |
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162352.075657,87.2580952273033
|
| 1267 |
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162352.08063,87.2580952273033
|
| 1268 |
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162352.086056,87.2580952273033
|
| 1269 |
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162352.090635,87.2580952273033
|
| 1270 |
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162352.095633,87.2580952273033
|
| 1271 |
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162352.101724,87.2580952273033
|
| 1272 |
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162352.105629,87.26721853177159
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| 1273 |
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162352.110636,87.2580952273033
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| 1274 |
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162352.116593,87.2580952273033
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| 1275 |
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162352.121392,87.24897097071786
|
| 1276 |
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162352.125629,87.24897097071786
|
| 1277 |
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162352.130879,87.24897097071786
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| 1278 |
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162352.135634,87.2580952273033
|
| 1279 |
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162352.141159,87.2580952273033
|
| 1280 |
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162352.145626,87.2580952273033
|
| 1281 |
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162352.150804,87.2580952273033
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| 1282 |
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162352.155645,87.2580952273033
|
| 1283 |
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162352.160653,87.24897097071786
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| 1284 |
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162352.167785,87.24897097071786
|
| 1285 |
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162352.171588,87.24897097071786
|
| 1286 |
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162352.176442,87.24897097071786
|
| 1287 |
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162352.180733,87.24897097071786
|
| 1288 |
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162352.185632,87.2580952273033
|
| 1289 |
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162352.190632,87.2580952273033
|
| 1290 |
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162352.195658,87.2580952273033
|
| 1291 |
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162352.201659,87.2580952273033
|
| 1292 |
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162352.20563,87.2580952273033
|
| 1293 |
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162352.210638,87.2580952273033
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|
multi_sessions_20251119_192832/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1292 +0,0 @@
|
|
| 1 |
-
162345.755173000 87.8672456741372
|
| 2 |
-
162345.760760000 87.87630492230221
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| 3 |
-
162345.766605000 87.8672456741372
|
| 4 |
-
162345.770172000 87.8672456741372
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| 5 |
-
162345.775233000 87.8672456741372
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| 6 |
-
162345.780174000 87.8672456741372
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| 7 |
-
162345.785712000 87.8672456741372
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| 8 |
-
162345.790177000 87.8672456741372
|
| 9 |
-
162345.795177000 87.8672456741372
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| 10 |
-
162345.801410000 87.8672456741372
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| 11 |
-
162345.805169000 87.87630492230221
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| 12 |
-
162345.810175000 87.87630492230221
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| 13 |
-
162345.815281000 87.87630492230221
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| 14 |
-
162345.820467000 87.8672456741372
|
| 15 |
-
162345.825172000 87.8672456741372
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| 16 |
-
162345.830176000 87.8672456741372
|
| 17 |
-
162345.836000000 87.87630492230221
|
| 18 |
-
162345.840185000 87.87630492230221
|
| 19 |
-
162345.845372000 87.8672456741372
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| 20 |
-
162345.850592000 87.8672456741372
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| 21 |
-
162345.856004000 87.8672456741372
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| 22 |
-
162345.860172000 87.8672456741372
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| 23 |
-
162345.865194000 87.8672456741372
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| 24 |
-
162345.870256000 87.87630492230221
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| 25 |
-
162345.875864000 87.8672456741372
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| 26 |
-
162345.880168000 87.8672456741372
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| 27 |
-
162345.885524000 87.8672456741372
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| 28 |
-
162345.890178000 87.8672456741372
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| 29 |
-
162345.895218000 87.8672456741372
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| 30 |
-
162345.901474000 87.8672456741372
|
| 31 |
-
162345.905173000 87.8672456741372
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| 32 |
-
162345.910383000 87.8672456741372
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| 33 |
-
162345.916563000 87.8672456741372
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| 34 |
-
162345.920171000 87.8672456741372
|
| 35 |
-
162345.925168000 87.8672456741372
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| 36 |
-
162345.930561000 87.8672456741372
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| 37 |
-
162345.935919000 87.8672456741372
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| 38 |
-
162345.940201000 87.8672456741372
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| 39 |
-
162345.945168000 87.8672456741372
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| 40 |
-
162345.950296000 87.8672456741372
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| 41 |
-
162345.955178000 87.8672456741372
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| 42 |
-
162345.960653000 87.8672456741372
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| 43 |
-
162345.966523000 87.8672456741372
|
| 44 |
-
162345.970179000 87.8672456741372
|
| 45 |
-
162345.975323000 87.8672456741372
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| 46 |
-
162345.980184000 87.8672456741372
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| 47 |
-
162345.985580000 87.8672456741372
|
| 48 |
-
162345.990193000 87.8672456741372
|
| 49 |
-
162345.995191000 87.8672456741372
|
| 50 |
-
162346.001403000 87.8672456741372
|
| 51 |
-
162346.005180000 87.8672456741372
|
| 52 |
-
162346.010359000 87.8672456741372
|
| 53 |
-
162346.015347000 87.8672456741372
|
| 54 |
-
162346.020506000 87.8672456741372
|
| 55 |
-
162346.025182000 87.8672456741372
|
| 56 |
-
162346.030878000 87.8672456741372
|
| 57 |
-
162346.036065000 87.8672456741372
|
| 58 |
-
162346.040181000 87.8672456741372
|
| 59 |
-
162346.045231000 87.8672456741372
|
| 60 |
-
162346.051047000 87.8672456741372
|
| 61 |
-
162346.055393000 87.8672456741372
|
| 62 |
-
162346.060193000 87.8672456741372
|
| 63 |
-
162346.065277000 87.8672456741372
|
| 64 |
-
162346.070249000 87.8672456741372
|
| 65 |
-
162346.075894000 87.8672456741372
|
| 66 |
-
162346.080178000 87.87630492230221
|
| 67 |
-
162346.085632000 87.8672456741372
|
| 68 |
-
162346.090188000 87.8672456741372
|
| 69 |
-
162346.095191000 87.8672456741372
|
| 70 |
-
162346.101529000 87.8672456741372
|
| 71 |
-
162346.105232000 87.8672456741372
|
| 72 |
-
162346.110183000 87.8672456741372
|
| 73 |
-
162346.116270000 87.8672456741372
|
| 74 |
-
162346.120251000 87.8672456741372
|
| 75 |
-
162346.125180000 87.8672456741372
|
| 76 |
-
162346.130699000 87.8672456741372
|
| 77 |
-
162346.135938000 87.8672456741372
|
| 78 |
-
162346.140234000 87.87630492230221
|
| 79 |
-
162346.145179000 87.87630492230221
|
| 80 |
-
162346.150375000 87.8672456741372
|
| 81 |
-
162346.155186000 87.8672456741372
|
| 82 |
-
162346.160852000 87.8672456741372
|
| 83 |
-
162346.167077000 87.8672456741372
|
| 84 |
-
162346.170184000 87.8672456741372
|
| 85 |
-
162346.175617000 87.87630492230221
|
| 86 |
-
162346.180184000 87.87630492230221
|
| 87 |
-
162346.185206000 87.8672456741372
|
| 88 |
-
162346.190416000 87.87630492230221
|
| 89 |
-
162346.195187000 87.8672456741372
|
| 90 |
-
162346.201358000 87.87630492230221
|
| 91 |
-
162346.205184000 87.87630492230221
|
| 92 |
-
162346.210359000 87.8672456741372
|
| 93 |
-
162346.215349000 87.8672456741372
|
| 94 |
-
162346.220476000 87.87630492230221
|
| 95 |
-
162346.225186000 87.87630492230221
|
| 96 |
-
162346.230187000 87.8672456741372
|
| 97 |
-
162346.236191000 87.8672456741372
|
| 98 |
-
162346.240191000 87.8672456741372
|
| 99 |
-
162346.245524000 87.8672456741372
|
| 100 |
-
162346.251114000 87.8672456741372
|
| 101 |
-
162346.255432000 87.8672456741372
|
| 102 |
-
162346.260181000 87.8672456741372
|
| 103 |
-
162346.265297000 87.8672456741372
|
| 104 |
-
162346.270316000 87.8672456741372
|
| 105 |
-
162346.275983000 87.8672456741372
|
| 106 |
-
162346.280183000 87.87630492230221
|
| 107 |
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-
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162351.941091000 87.2580952273033
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| 1240 |
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| 1241 |
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| 1242 |
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| 1243 |
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|
multi_sessions_20251119_192832/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: 645
|
| 19 |
-
均值融合 (都低速): 645
|
| 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 19:29:19
|
| 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_192832/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
@@ -1,646 +0,0 @@
|
|
| 1 |
-
timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W
|
| 2 |
-
162345.75347805023,0.0005970388114455,-8.978771044620891e-05,0.0007602314703875,-0.0014456601312483,-0.0050601924984252,-0.0005536490769805,0.9999859988976664
|
| 3 |
-
162345.76339673996,0.0006378019183642,-7.259325839773881e-05,0.0007577475128997,-0.0014113285248785,-0.0050307207003988,-0.0005985745676597,0.9999861707591344
|
| 4 |
-
162345.77341079712,0.0006068279946413,-7.755357380623653e-05,0.0007074995258339,-0.00145145449548,-0.0050111520606012,-0.0006117354760006,0.9999862036121202
|
| 5 |
-
162345.7834777832,0.0006132113085531,-7.34011715081951e-05,0.0006992323856849,-0.0014304019327854,-0.0050163321529812,-0.0005877704390763,0.9999862223490644
|
| 6 |
-
162345.7935810089,0.0006206799658955,-8.360305695178435e-05,0.0007080673664493,-0.0014408436318936,-0.0050335189741585,-0.0005619147227342,0.9999861358579976
|
| 7 |
-
162345.80334186554,0.0006303224963041,-0.0001216388437432,0.0006984368060618,-0.0014613464902672,-0.0050412810516934,-0.0006293540286475,0.9999860268350252
|
| 8 |
-
162345.81333327293,0.0006895717778998,-9.877561470601707e-05,0.0007213973851505,-0.0014090114848346,-0.0050340019275558,-0.0006168447506506,0.9999861464109304
|
| 9 |
-
162345.8233911991,0.0007023948318073,-9.655227063877369e-05,0.0007149194741356,-0.0013776927158397,-0.0050382202946014,-0.0006008746694452,0.9999861785288212
|
| 10 |
-
162345.83340620995,0.0007098557569679,-0.0001122589072111,0.0007564766082964,-0.0014297715457215,-0.0050335027684558,-0.000656917340271,0.9999860939347184
|
| 11 |
-
162345.84340929985,0.0006974898844922,-9.33294142581647e-05,0.0007295079522974,-0.0014259257987391,-0.0050207796627975,-0.0006474858216372,0.9999861695390116
|
| 12 |
-
162345.85349607468,0.0007063803255815,-6.941345806575335e-05,0.0007205413853201,-0.0014311720912966,-0.0050092810056705,-0.0006156278234378,0.999986239831646
|
| 13 |
-
162345.86340761185,0.0006981838545575,-5.273509854557745e-05,0.0006914917818819,-0.0014634124213574,-0.0050017196419589,-0.0006136624205581,0.9999862322267952
|
| 14 |
-
162345.8733742237,0.0006947947217327,-3.8037848282876006e-05,0.0006829565795567,-0.0014789731406664,-0.005006248628939,-0.0006291204071245,0.9999861770647772
|
| 15 |
-
162345.88335990906,0.0006999796991133,2.4957184814383075e-06,0.0007198982272652,-0.0014350640574596,-0.0050337978662396,-0.0006087106096287,0.999986115374402
|
| 16 |
-
162345.89329767227,0.0007058773530097,6.669996331074609e-06,0.000697275103649,-0.0014525555079811,-0.0050691097943437,-0.0005823067555228,0.9999859274645978
|
| 17 |
-
162345.9033279419,0.0007150617343004,-5.383810910120437e-06,0.0006980795388846,-0.0014505670442572,-0.0051227251331805,-0.000612574383162,0.999985639044424
|
| 18 |
-
162345.91347551346,0.0007192397637657,-2.631689643512586e-05,0.0006620902845392,-0.001358214468978,-0.0050602257322337,-0.000594865743295,0.9999860976552336
|
| 19 |
-
162345.9234161377,0.0007644184386071,2.5749949672512277e-05,0.0006675077142948,-0.0012737302151079,-0.0050059272449929,-0.0005073617335669,0.9999865303531984
|
| 20 |
-
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162351.3834106922,0.250360993114915,-0.1588092737442202,-0.0070221073742122,-0.0081337290103971,0.219828667199767,-0.1585003429229976,0.962541864452062
|
| 566 |
-
162351.39334130287,0.2473032701741814,-0.1568174104765636,-0.0033129665345261,-0.0069553446897809,0.2169825463529126,-0.1582580233129497,0.9632365212218288
|
| 567 |
-
162351.40338349342,0.2441643232618196,-0.1547695230526552,0.0003679952446227,-0.0057857044504736,0.2142715649493285,-0.1578775576943878,0.9639133253849296
|
| 568 |
-
162351.41348338127,0.2406791374443876,-0.1525300671023617,0.0042592061849342,-0.0045991140536455,0.2115102803277688,-0.1572171979605249,0.9646372386192807
|
| 569 |
-
162351.4234378338,0.2378669366239619,-0.1506035584398505,0.007390619889832,-0.0035774081814957,0.2093987614504098,-0.1565093139111305,0.9652171753096837
|
| 570 |
-
162351.43341588974,0.234731976014366,-0.1484288554571441,0.0107314958880992,-0.0025235145242872,0.2073023795796153,-0.155522659908231,0.9658323133702575
|
| 571 |
-
162351.44340705872,0.2315709134795885,-0.1461896672063983,0.013995101148888,-0.0015171357187384,0.2054419965138797,-0.1542167962172202,0.9664411332989188
|
| 572 |
-
162351.4533824921,0.228406131774477,-0.1439344644043053,0.017117309498974,-0.0006571096525381,0.2039168875615847,-0.1526139078190076,0.9670193722538925
|
| 573 |
-
162351.46343398094,0.2252433838701883,-0.1415751373955853,0.0202254513342877,0.000173497521088,0.2025254667881071,-0.150783686962543,0.9675989277313464
|
| 574 |
-
162351.47335362434,0.2221579033921314,-0.1391772753214867,0.0231763822587332,0.0008833253634354,0.2013288664096652,-0.1485770940211295,0.9681894207327087
|
| 575 |
-
162351.48347830772,0.2190394609195232,-0.1367140986073293,0.0260678950472352,0.0015870630420306,0.2001482351563166,-0.1462202551922424,0.9687919292429248
|
| 576 |
-
162351.4933731556,0.2159497892864262,-0.1342624345158729,0.0288494985611253,0.0021633958461362,0.1989977739321037,-0.1437145541181272,0.9694025647908656
|
| 577 |
-
162351.50336766243,0.2128197392498012,-0.1318288329571516,0.0315536464891502,0.002605485247759,0.19783980159171,-0.141243934363647,0.9700014305959832
|
| 578 |
-
162351.51335644722,0.2096450300850067,-0.1293947160025138,0.0342509994472525,0.0030232999236469,0.1965920128429154,-0.1387019526370723,0.9706205275382374
|
| 579 |
-
162351.5233783722,0.2064670186800422,-0.1269765760727273,0.036865309771468,0.0035062048430313,0.1952396770808094,-0.1362255207194127,0.9712423912318204
|
| 580 |
-
162351.53341317177,0.2033124207452656,-0.1246486822658921,0.0393129498657132,0.0038848697447225,0.1935509214407067,-0.1338265275939788,0.9719122435223552
|
| 581 |
-
162351.54336953163,0.2001389273868583,-0.1222846106240091,0.0417637075990266,0.0043136429041846,0.1919002628817524,-0.1316095638594983,0.9725402841484369
|
| 582 |
-
162351.55345630646,0.1968715766347685,-0.1200961474037155,0.0440769364794276,0.0046580196884573,0.1901636552005467,-0.1296233355320549,0.9731463805506826
|
| 583 |
-
162351.56346178055,0.1936898008457951,-0.1177874221699624,0.0463009619136045,0.0051535344135375,0.1884271626970392,-0.1276530013689464,0.9737419353619786
|
| 584 |
-
162351.5733718872,0.1908839345561682,-0.115740239841761,0.0483031126975107,0.005602833904011,0.1867757921383001,-0.125910536306455,0.9742843263495392
|
| 585 |
-
162351.58345532417,0.1874261871196989,-0.1132679328383771,0.0506160962859539,0.0063056741627425,0.1847050700752993,-0.1237588932804524,0.9749502612419928
|
| 586 |
-
162351.59337997437,0.1843249786117754,-0.1110089503322652,0.0526175380570388,0.0070130021519462,0.1826978271092176,-0.1216281170327549,0.9755915758745836
|
| 587 |
-
162351.603410244,0.1812415046303383,-0.1087332116013301,0.0544400494158755,0.0078351355072341,0.1808060190034503,-0.1193589578628172,0.9762178206330848
|
| 588 |
-
162351.6133749485,0.1781260295170376,-0.1064339971858271,0.0562134142876075,0.008709178157888,0.1789882793667253,-0.11706651414182,0.976822797303501
|
| 589 |
-
162351.62338972092,0.1750302615912781,-0.1041468973654727,0.0579148593338698,0.0096162061593402,0.177219312419396,-0.1148850288014357,0.9773956589027756
|
| 590 |
-
162351.63341331482,0.1720293709475531,-0.101935731630992,0.0594409096993327,0.0106106938839452,0.1753248693214175,-0.1127143236936893,0.97797959314446
|
| 591 |
-
162351.6434659958,0.1692067288865932,-0.0999165739443818,0.0607451404211198,0.011571409515603,0.1737015289326994,-0.1108403201762889,0.9784724343339892
|
| 592 |
-
162351.65341353416,0.1658060358856912,-0.0975297590415923,0.062147434332327,0.0127734184398574,0.1717419558111502,-0.1087069191380237,0.9790425660445212
|
| 593 |
-
162351.66340827942,0.1626874188421337,-0.0953676295823029,0.0633814532842985,0.0139261455207181,0.1700708882476888,-0.1068586450463036,0.9795219167637068
|
| 594 |
-
162351.67336797714,0.1596776552983622,-0.0933116309733223,0.0644522690671676,0.0150468868420059,0.168453071728103,-0.1050640007759195,0.979978933223918
|
| 595 |
-
162351.6834437847,0.1565964880527757,-0.0912276117547956,0.0653917773440518,0.0162403747501861,0.1670105348863622,-0.1033299830836221,0.9803910679218182
|
| 596 |
-
162351.6933670044,0.1535763945357635,-0.089234850096693,0.0662066005209594,0.0173396927510133,0.1655692193281457,-0.1016551053819666,0.9807917251976336
|
| 597 |
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162351.7033751011,0.1505925633064319,-0.0872463686793763,0.0669464495923294,0.0183996650268749,0.16418946337689,-0.1000385157248676,0.9811705090423748
|
| 598 |
-
162351.71345877647,0.1475773884673158,-0.0852692181965144,0.0675849444604277,0.0194019481458509,0.1628537302594072,-0.0985387053685647,0.9815255220792932
|
| 599 |
-
162351.72341942787,0.1445981298364139,-0.0833288114534276,0.0681351530071333,0.0204854992543132,0.1615454373703348,-0.0971073648849787,0.9818622997499316
|
| 600 |
-
162351.7334008217,0.1417282587383045,-0.0814999828264797,0.0686127138800591,0.02153339651269,0.1598864254377422,-0.0956852809922428,0.9822509713901048
|
| 601 |
-
162351.74333667755,0.1388651276024722,-0.079665119544379,0.0690226112064219,0.0226047566708135,0.1582161485703229,-0.094325715519837,0.9826287878436586
|
| 602 |
-
162351.75339984894,0.1360665598571103,-0.0778304821433303,0.0693454862905342,0.0236225554443152,0.1565546490311759,-0.0929187950713232,0.9830049411185576
|
| 603 |
-
162351.76341223717,0.1332580379416942,-0.0760239359917023,0.0695225538433963,0.0246612434170469,0.1550048981355914,-0.0914925508478874,0.9833587431687618
|
| 604 |
-
162351.77337265015,0.1304979764109342,-0.0743174402122497,0.0696077416730744,0.0255737463446357,0.1534149548619316,-0.0901067900164067,0.9837126620693418
|
| 605 |
-
162351.78345775604,0.1277195454864421,-0.0726490220574962,0.0696039072879386,0.0264426241414636,0.1519316667130447,-0.0888196140762045,0.9840369060323214
|
| 606 |
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162351.79338479042,0.1250285153258341,-0.0710680180352116,0.0695402246507834,0.0271327206880437,0.1504636296300361,-0.0876796123434426,0.9843458727530296
|
| 607 |
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162351.80339503288,0.1223071891875222,-0.0695712692578965,0.0694525289835845,0.027773135920357,0.1489735681867194,-0.0867062791861358,0.9846408228651512
|
| 608 |
-
162351.8136088848,0.1193494469508959,-0.0680210428700852,0.0692511819721288,0.0283179341679471,0.1473389661902363,-0.0859261507935938,0.9849396023392748
|
| 609 |
-
162351.82343292236,0.1169688137605566,-0.0668175700326875,0.0690068717183552,0.0287105470499935,0.1461228746510938,-0.0854024707717473,0.9851549258760632
|
| 610 |
-
162351.83346295357,0.11432821175237,-0.0656111083269405,0.0686697770354011,0.0290901041065617,0.1446820303542195,-0.0848820434678832,0.9854013977219468
|
| 611 |
-
162351.8434522152,0.1116946336614132,-0.0643252591484047,0.0682173196815425,0.0295093890790524,0.1433485885785871,-0.084376639386918,0.9856271916066836
|
| 612 |
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162351.8534936905,0.108988975458465,-0.0629229155625088,0.0676405515384973,0.0299563077929303,0.1417989809960335,-0.0836104087497774,0.9859031231112908
|
| 613 |
-
162351.8633966446,0.1067840825290632,-0.0617628907722897,0.0671237036494843,0.0303989905889339,0.140599248572493,-0.0827593531182321,0.9861331766772052
|
| 614 |
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162351.87335586548,0.1044205253869387,-0.0604652830232714,0.0664710598460973,0.0309457369217792,0.1391413765190125,-0.0814777233138114,0.9864296322142602
|
| 615 |
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162351.88342690468,0.1020897983515445,-0.059103200405486,0.0657677520438973,0.0315162836406881,0.1376975592396889,-0.0800058741605648,0.986734597622236
|
| 616 |
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162351.8934028149,0.0998996091216208,-0.0577480888262721,0.0650368382926987,0.0321012303363753,0.1361107716840385,-0.0782961148661851,0.9870729898236136
|
| 617 |
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162351.9034655094,0.0974982887026152,-0.0561915649738618,0.0641909106529464,0.0328476471102804,0.1342778286424129,-0.0762899621766955,0.9874564995408536
|
| 618 |
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162351.91350483894,0.0956697499397837,-0.0548590216855599,0.0634297584546981,0.0334583754557197,0.1326433225902745,-0.0744926337554803,0.9877940744913628
|
| 619 |
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162351.9234404564,0.0935922288190958,-0.0534342996247615,0.0625948839201436,0.0341640412076936,0.1308853556865557,-0.0724223050663649,0.9881583130673128
|
| 620 |
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162351.93345046043,0.091572953744411,-0.0520322228478892,0.0617627869671432,0.0348015103090731,0.1289448697180974,-0.0702426054349686,0.988548456999098
|
| 621 |
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162351.94334578514,0.0895510600381062,-0.0506107665983462,0.0609279677299393,0.0355126993985825,0.1269996211983634,-0.0680314185985405,0.9889295578959952
|
| 622 |
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162351.95342683792,0.0875552880262503,-0.049240972308566,0.0601237087608789,0.0360933037101935,0.124702022231893,-0.0659275318185412,0.9893433375865406
|
| 623 |
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162351.9634025097,0.0855618658078735,-0.0478920558321287,0.0593006855604785,0.0365908614750855,0.1224299563937199,-0.0639696140438259,0.9897372899477048
|
| 624 |
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162351.97336506844,0.083657536078325,-0.0465602201892121,0.0585553112796988,0.0369267535018561,0.119979669234134,-0.0622003203262743,0.9901375732682756
|
| 625 |
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162351.9834575653,0.0816606229943052,-0.0453581277225658,0.057764087418775,0.0370958148473904,0.117475177110758,-0.0606096369577525,0.9905301384569042
|
| 626 |
-
162351.993391037,0.0796923280554743,-0.044260566307007,0.0570025904906139,0.0369307545980861,0.1147726506997707,-0.0592577438761814,0.990934850435118
|
| 627 |
-
162352.00338196754,0.0777479603031964,-0.0432677472722879,0.05637647402213,0.0366129316565643,0.1121636716647608,-0.058216143444008,0.9913070587041628
|
| 628 |
-
162352.01334142685,0.0757636033082524,-0.0423336195966068,0.0556484556770967,0.0359559952776672,0.1095268292425997,-0.0574710710155572,0.9916693582419392
|
| 629 |
-
162352.02340245247,0.0737825730655082,-0.0414897323437788,0.0550185681813527,0.0351479004934744,0.1069069448406113,-0.0570127944214947,0.9920106206629038
|
| 630 |
-
162352.0333931446,0.0717948747694186,-0.0407491140582363,0.054341753280952,0.0341384021126516,0.1042355268544821,-0.0567255556891186,0.9923465804719258
|
| 631 |
-
162352.04335546494,0.0697101811740438,-0.0399576079265331,0.0536738996292808,0.0330821781064051,0.1017270928635523,-0.0565804432085069,0.9926509061677198
|
| 632 |
-
162352.05350255966,0.0675126455607685,-0.0392012524029085,0.0529694191044098,0.0317837082648356,0.0989463984063271,-0.0565400814578766,0.9929766489299175
|
| 633 |
-
162352.06347680092,0.0657046649170001,-0.0385941619630905,0.0523809707974291,0.0306565397645277,0.096839961894551,-0.0565103063597698,0.9932214172202756
|
| 634 |
-
162352.07338356972,0.0637769151669649,-0.0379230043436598,0.0517327445218291,0.0293181675028254,0.094371921482429,-0.0563154366127181,0.9935104212282374
|
| 635 |
-
162352.0835223198,0.0616079244048945,-0.0371299793521381,0.0510288620856,0.0276714439300685,0.091661878623659,-0.0560272128470047,0.9938276221853584
|
| 636 |
-
162352.0933933258,0.0599708346078741,-0.0364865038536655,0.0505150656715853,0.0263123932878742,0.0893060554628835,-0.0557754944938381,0.9940931448466448
|
| 637 |
-
162352.10336136818,0.0581470094582588,-0.0357857099809221,0.0499372452218217,0.0246272916471672,0.0865246753781207,-0.0553129093700242,0.9944080948553566
|
| 638 |
-
162352.11341524124,0.056271206371517,-0.0350095512508947,0.0493209294589149,0.0229047785526095,0.0839267032250671,-0.0548416319816168,0.9946979818049398
|
| 639 |
-
162352.1234240532,0.0544663684934636,-0.0343183480333841,0.0487157825993629,0.0210548201910382,0.0811784771530086,-0.054386324301646,0.9949918980186712
|
| 640 |
-
162352.1333949566,0.0525827209318662,-0.0336889367490973,0.0479913904479226,0.0191262872627958,0.0785960552934152,-0.0540993696250121,0.9952537884550008
|
| 641 |
-
162352.1433634758,0.0506237076042569,-0.0330364231992345,0.0473200962972979,0.0171851523694562,0.0763854881411423,-0.0540191720809849,0.9954656482205516
|
| 642 |
-
162352.1534321308,0.0487203230875569,-0.0324250354690116,0.0465033547396603,0.0151568784605112,0.074179173310282,-0.0540466880528174,0.9956639366738448
|
| 643 |
-
162352.1633925438,0.0469157379595263,-0.0318173514355071,0.0457917355946466,0.0133133300133335,0.0717978388926827,-0.0539430297549405,0.995870461011448
|
| 644 |
-
162352.17334890366,0.045160130548779,-0.0310947843070574,0.0450324062850355,0.0116277275573987,0.0692959875311786,-0.0535821159423179,0.9960882585971356
|
| 645 |
-
162352.18338537216,0.0433919183743418,-0.0302450931440732,0.0441487770997588,0.0102394019462272,0.0669308118237779,-0.0529407479935028,0.996299502297518
|
| 646 |
-
162352.19335865974,0.0416982515546535,-0.0293216771660726,0.0432478839851835,0.0090343602696648,0.0646639002565094,-0.0519766080196479,0.9965116118525192
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multi_sessions_20251119_192832/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,388 +0,0 @@
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| 1 |
-
frame_index,timestamp
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| 2 |
-
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| 92 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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97,162347.367901
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| 102 |
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101,162347.434667
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106,162347.518374
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| 109 |
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107,162347.535346
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| 110 |
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108,162347.551354
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| 111 |
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111,162347.601453
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| 114 |
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112,162347.617989
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| 115 |
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| 116 |
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| 120 |
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| 121 |
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| 132 |
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| 133 |
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131,162347.935561
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| 134 |
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132,162347.95136
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| 135 |
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133,162347.967627
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| 136 |
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134,162347.984517
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| 137 |
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135,162348.001777
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| 138 |
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136,162348.017759
|
| 139 |
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137,162348.034252
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multi_sessions_20251119_192832/session_003/RGB_Images/video.mp4
DELETED
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@@ -1,3 +0,0 @@
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|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:d0b6d50d87121b63ae17080e4f63ee3557de7558b61746bc9a7e7da03ecf0242
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| 3 |
-
size 2876602
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multi_sessions_20251119_192832/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_003/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 162345.753478s
|
| 6 |
-
Vive 第一帧时间戳: 1763551751.631980s
|
| 7 |
-
计算的 offset: -1763389405.878502s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.878502
|
| 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 19:29:19
|
| 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_192832/session_003/Vive_Poses/vive_data_tum.txt
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|
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multi_sessions_20251119_192832/session_004/Clamp_Data/clamp.csv
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| 1349 |
-
162368.031825,86.7364966187689
|
| 1350 |
-
162368.037213,86.7364966187689
|
| 1351 |
-
162368.042057,86.7364966187689
|
| 1352 |
-
162368.04731,86.7364966187689
|
| 1353 |
-
162368.051759,86.7364966187689
|
| 1354 |
-
162368.057281,86.7364966187689
|
| 1355 |
-
162368.061843,86.72731828423757
|
| 1356 |
-
162368.066722,86.72731828423757
|
| 1357 |
-
162368.071717,86.72731828423757
|
| 1358 |
-
162368.076734,86.72731828423757
|
| 1359 |
-
162368.081824,86.72731828423757
|
| 1360 |
-
162368.086725,86.72731828423757
|
| 1361 |
-
162368.091915,86.72731828423757
|
| 1362 |
-
162368.097529,86.72731828423757
|
| 1363 |
-
162368.101716,86.7181390043585
|
| 1364 |
-
162368.106713,86.7181390043585
|
| 1365 |
-
162368.111794,86.7181390043585
|
| 1366 |
-
162368.117434,86.72731828423757
|
| 1367 |
-
162368.121717,86.72731828423757
|
| 1368 |
-
162368.126711,86.72731828423757
|
| 1369 |
-
162368.131916,86.72731828423757
|
| 1370 |
-
162368.137131,86.72731828423757
|
| 1371 |
-
162368.142007,86.72731828423757
|
| 1372 |
-
162368.147862,86.72731828423757
|
| 1373 |
-
162368.15176,86.72731828423757
|
| 1374 |
-
162368.157671,86.72731828423757
|
| 1375 |
-
162368.161785,86.72731828423757
|
| 1376 |
-
162368.166787,86.72731828423757
|
| 1377 |
-
162368.171725,86.72731828423757
|
| 1378 |
-
162368.176731,86.72731828423757
|
| 1379 |
-
162368.182001,86.72731828423757
|
| 1380 |
-
162368.186726,86.72731828423757
|
| 1381 |
-
162368.19172,86.72731828423757
|
| 1382 |
-
162368.196737,86.72731828423757
|
| 1383 |
-
162368.202329,86.72731828423757
|
| 1384 |
-
162368.206717,86.72731828423757
|
| 1385 |
-
162368.211796,86.72731828423757
|
| 1386 |
-
162368.217078,86.72731828423757
|
| 1387 |
-
162368.221728,86.72731828423757
|
| 1388 |
-
162368.226718,86.72731828423757
|
| 1389 |
-
162368.23191,86.7364966187689
|
| 1390 |
-
162368.237328,86.72731828423757
|
| 1391 |
-
162368.241745,86.72731828423757
|
| 1392 |
-
162368.247479,86.72731828423757
|
| 1393 |
-
162368.251728,86.72731828423757
|
| 1394 |
-
162368.257251,86.7364966187689
|
| 1395 |
-
162368.261766,86.7364966187689
|
| 1396 |
-
162368.266721,86.7364966187689
|
| 1397 |
-
162368.271726,86.7364966187689
|
| 1398 |
-
162368.276739,86.72731828423757
|
| 1399 |
-
162368.282812,86.72731828423757
|
| 1400 |
-
162368.286729,86.72731828423757
|
| 1401 |
-
162368.291975,86.72731828423757
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|
multi_sessions_20251119_192832/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1400 +0,0 @@
|
|
| 1 |
-
162361.296433000 87.975893266592
|
| 2 |
-
162361.301627000 87.975893266592
|
| 3 |
-
162361.306245000 87.98494098711389
|
| 4 |
-
162361.311377000 87.975893266592
|
| 5 |
-
162361.317950000 87.975893266592
|
| 6 |
-
162361.321275000 87.975893266592
|
| 7 |
-
162361.326246000 87.975893266592
|
| 8 |
-
162361.331574000 87.975893266592
|
| 9 |
-
162361.336315000 87.975893266592
|
| 10 |
-
162361.341356000 87.975893266592
|
| 11 |
-
162361.346366000 87.975893266592
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| 12 |
-
162361.351285000 87.975893266592
|
| 13 |
-
162361.356456000 87.975893266592
|
| 14 |
-
162361.361244000 87.975893266592
|
| 15 |
-
162361.366356000 87.975893266592
|
| 16 |
-
162361.371251000 87.975893266592
|
| 17 |
-
162361.376257000 87.975893266592
|
| 18 |
-
162361.381358000 87.975893266592
|
| 19 |
-
162361.386255000 87.975893266592
|
| 20 |
-
162361.391248000 87.975893266592
|
| 21 |
-
162361.396255000 87.98494098711389
|
| 22 |
-
162361.401607000 87.975893266592
|
| 23 |
-
162361.406246000 87.975893266592
|
| 24 |
-
162361.411249000 87.975893266592
|
| 25 |
-
162361.416347000 87.975893266592
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| 26 |
-
162361.421258000 87.975893266592
|
| 27 |
-
162361.426243000 87.975893266592
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| 28 |
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162361.431469000 87.975893266592
|
| 29 |
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162361.436776000 87.975893266592
|
| 30 |
-
162361.441606000 87.975893266592
|
| 31 |
-
162361.446366000 87.975893266592
|
| 32 |
-
162361.451897000 87.975893266592
|
| 33 |
-
162361.456257000 87.975893266592
|
| 34 |
-
162361.461254000 87.975893266592
|
| 35 |
-
162361.467442000 87.975893266592
|
| 36 |
-
162361.471260000 87.975893266592
|
| 37 |
-
162361.476266000 87.98494098711389
|
| 38 |
-
162361.483344000 87.98494098711389
|
| 39 |
-
162361.487144000 87.975893266592
|
| 40 |
-
162361.491416000 87.975893266592
|
| 41 |
-
162361.496279000 87.975893266592
|
| 42 |
-
162361.501260000 87.975893266592
|
| 43 |
-
162361.506254000 87.975893266592
|
| 44 |
-
162361.511255000 87.975893266592
|
| 45 |
-
162361.518205000 87.975893266592
|
| 46 |
-
162361.521257000 87.975893266592
|
| 47 |
-
162361.526254000 87.975893266592
|
| 48 |
-
162361.531384000 87.975893266592
|
| 49 |
-
162361.536442000 87.975893266592
|
| 50 |
-
162361.541303000 87.975893266592
|
| 51 |
-
162361.546910000 87.975893266592
|
| 52 |
-
162361.551263000 87.975893266592
|
| 53 |
-
162361.556565000 87.975893266592
|
| 54 |
-
162361.561253000 87.975893266592
|
| 55 |
-
162361.566435000 87.975893266592
|
| 56 |
-
162361.571259000 87.975893266592
|
| 57 |
-
162361.576265000 87.975893266592
|
| 58 |
-
162361.581411000 87.975893266592
|
| 59 |
-
162361.586264000 87.975893266592
|
| 60 |
-
162361.591257000 87.975893266592
|
| 61 |
-
162361.596325000 87.975893266592
|
| 62 |
-
162361.601273000 87.975893266592
|
| 63 |
-
162361.606275000 87.975893266592
|
| 64 |
-
162361.611276000 87.975893266592
|
| 65 |
-
162361.618094000 87.975893266592
|
| 66 |
-
162361.621276000 87.975893266592
|
| 67 |
-
162361.626329000 87.975893266592
|
| 68 |
-
162361.631575000 87.975893266592
|
| 69 |
-
162361.636763000 87.975893266592
|
| 70 |
-
162361.641533000 87.975893266592
|
| 71 |
-
162361.646316000 87.975893266592
|
| 72 |
-
162361.651894000 87.975893266592
|
| 73 |
-
162361.656287000 87.975893266592
|
| 74 |
-
162361.661346000 87.975893266592
|
| 75 |
-
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multi_sessions_20251119_192832/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: 700
|
| 19 |
-
均值融合 (都低速): 700
|
| 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 19:29:35
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_192832/session_004/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_004/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_004/RGB_Images/timestamps.csv
DELETED
|
@@ -1,422 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,162361.28354
|
| 3 |
-
1,162361.301105
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| 5 |
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|
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5,162361.369005
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10,162361.449685
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11,162361.466956
|
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-
12,162361.483475
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13,162361.501628
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-
14,162361.517565
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-
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|
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16,162361.550636
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18,162361.583319
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22,162361.649675
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24,162361.683478
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|
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|
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75,162362.535173
|
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|
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79,162362.601437
|
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|
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87,162362.735165
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|
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96,162362.883427
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|
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127,162363.399903
|
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131,162363.46644
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133,162363.501386
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multi_sessions_20251119_192832/session_004/RGB_Images/video.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:3d5605760f4e431909d9bc5926ebd629cf3c691f1216de10912dfd7863fb5fc6
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size 3289894
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multi_sessions_20251119_192832/session_004/SLAM_Poses/slam_raw.txt
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multi_sessions_20251119_192832/session_004/Vive_Poses/offset_info.txt
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|
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|
| 1 |
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Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 162361.297465s
|
| 6 |
-
Vive 第一帧时间戳: 1763551767.181913s
|
| 7 |
-
计算的 offset: -1763389405.884448s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.884448
|
| 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 19:29:35
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
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multi_sessions_20251119_192832/session_004/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_192832/session_005/Clamp_Data/clamp.csv
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timestamp,clamp
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multi_sessions_20251119_192832/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1332 +0,0 @@
|
|
| 1 |
-
162375.687222000 87.50408987387988
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| 2 |
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162375.692239000 87.50408987387988
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162375.699477000 87.50408987387988
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162375.703106000 87.5131874272411
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162375.707740000 87.5131874272411
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162375.712951000 87.5131874272411
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162375.717977000 87.50408987387988
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162375.722225000 87.5131874272411
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162375.727242000 87.5131874272411
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162375.733034000 87.5131874272411
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162375.737220000 87.5131874272411
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162375.742221000 87.50408987387988
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162375.752231000 87.5131874272411
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162375.764919000 87.50408987387988
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162375.768099000 87.50408987387988
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162375.772484000 87.50408987387988
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162375.777291000 87.50408987387988
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162375.783234000 87.50408987387988
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162375.787244000 87.50408987387988
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162375.792287000 87.50408987387988
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162375.812260000 87.50408987387988
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162375.852302000 87.50408987387988
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162375.872230000 87.5131874272411
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162375.903099000 87.5131874272411
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162375.917365000 87.5131874272411
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162375.947809000 87.50408987387988
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162375.952238000 87.50408987387988
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162375.957610000 87.5131874272411
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162375.977233000 87.50408987387988
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162375.987275000 87.50408987387988
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162376.002246000 87.5131874272411
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162376.007313000 87.5131874272411
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162376.012254000 87.50408987387988
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162376.017701000 87.50408987387988
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162376.022534000 87.50408987387988
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162376.027219000 87.5131874272411
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162376.033017000 87.5131874272411
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162376.037224000 87.5131874272411
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162376.042224000 87.50408987387988
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162376.047349000 87.50408987387988
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162376.052243000 87.50408987387988
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162376.058178000 87.50408987387988
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162376.062855000 87.5131874272411
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162376.067231000 87.5131874272411
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162376.072234000 87.5131874272411
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162376.077739000 87.50408987387988
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162376.082808000 87.50408987387988
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162376.087229000 87.5131874272411
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162376.092268000 87.5131874272411
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162376.099625000 87.50408987387988
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162376.107394000 87.50408987387988
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162376.112252000 87.50408987387988
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162376.118079000 87.50408987387988
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162376.127226000 87.50408987387988
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162376.137228000 87.50408987387988
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162376.152238000 87.50408987387988
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162376.164267000 87.50408987387988
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162376.168162000 87.50408987387988
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162376.172230000 87.50408987387988
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162376.177700000 87.50408987387988
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162376.207881000 87.50408987387988
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162376.237228000 87.5131874272411
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162376.267242000 87.50408987387988
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162376.299560000 87.5131874272411
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162376.312280000 87.50408987387988
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162376.402242000 87.5131874272411
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162376.407331000 87.5131874272411
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| 1307 |
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| 1308 |
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| 1309 |
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162382.224777000 87.3857347942701
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| 1310 |
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162382.229784000 87.3857347942701
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| 1311 |
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162382.235564000 87.3857347942701
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| 1312 |
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162382.239773000 87.3857347942701
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| 1313 |
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162382.244816000 87.39484475688592
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| 1314 |
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| 1315 |
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| 1316 |
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| 1317 |
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| 1318 |
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| 1319 |
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| 1320 |
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| 1321 |
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| 1322 |
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| 1323 |
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| 1326 |
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| 1327 |
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| 1328 |
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| 1330 |
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| 1331 |
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| 1332 |
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multi_sessions_20251119_192832/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: 666
|
| 19 |
-
均值融合 (都低速): 666
|
| 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 19:29:49
|
| 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_192832/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,401 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,162375.682635
|
| 3 |
-
1,162375.698903
|
| 4 |
-
2,162375.715873
|
| 5 |
-
3,162375.732255
|
| 6 |
-
4,162375.749319
|
| 7 |
-
5,162375.765306
|
| 8 |
-
6,162375.782075
|
| 9 |
-
7,162375.798919
|
| 10 |
-
8,162375.817039
|
| 11 |
-
9,162375.832463
|
| 12 |
-
10,162375.849118
|
| 13 |
-
11,162375.865339
|
| 14 |
-
12,162375.882834
|
| 15 |
-
13,162375.898842
|
| 16 |
-
14,162375.91669
|
| 17 |
-
15,162375.932227
|
| 18 |
-
16,162375.949992
|
| 19 |
-
17,162375.965264
|
| 20 |
-
18,162375.981789
|
| 21 |
-
19,162375.9985
|
| 22 |
-
20,162376.0164
|
| 23 |
-
21,162376.032452
|
| 24 |
-
22,162376.049252
|
| 25 |
-
23,162376.065338
|
| 26 |
-
24,162376.082863
|
| 27 |
-
25,162376.098882
|
| 28 |
-
26,162376.116394
|
| 29 |
-
27,162376.132195
|
| 30 |
-
28,162376.150091
|
| 31 |
-
29,162376.165191
|
| 32 |
-
30,162376.182028
|
| 33 |
-
31,162376.198844
|
| 34 |
-
32,162376.216556
|
| 35 |
-
33,162376.232485
|
| 36 |
-
34,162376.249104
|
| 37 |
-
35,162376.265341
|
| 38 |
-
36,162376.282797
|
| 39 |
-
37,162376.298875
|
| 40 |
-
38,162376.315759
|
| 41 |
-
39,162376.332269
|
| 42 |
-
40,162376.350177
|
| 43 |
-
41,162376.365426
|
| 44 |
-
42,162376.382096
|
| 45 |
-
43,162376.398522
|
| 46 |
-
44,162376.41656
|
| 47 |
-
45,162376.432545
|
| 48 |
-
46,162376.449054
|
| 49 |
-
47,162376.465271
|
| 50 |
-
48,162376.48272
|
| 51 |
-
49,162376.499167
|
| 52 |
-
50,162376.515572
|
| 53 |
-
51,162376.532119
|
| 54 |
-
52,162376.549395
|
| 55 |
-
53,162376.565081
|
| 56 |
-
54,162376.582375
|
| 57 |
-
55,162376.600715
|
| 58 |
-
56,162376.615081
|
| 59 |
-
57,162376.632529
|
| 60 |
-
58,162376.649028
|
| 61 |
-
59,162376.665126
|
| 62 |
-
60,162376.681614
|
| 63 |
-
61,162376.700276
|
| 64 |
-
62,162376.715464
|
| 65 |
-
63,162376.73214
|
| 66 |
-
64,162376.74949
|
| 67 |
-
65,162376.764965
|
| 68 |
-
66,162376.782249
|
| 69 |
-
67,162376.798694
|
| 70 |
-
68,162376.815239
|
| 71 |
-
69,162376.831931
|
| 72 |
-
70,162376.849153
|
| 73 |
-
71,162376.865203
|
| 74 |
-
72,162376.881547
|
| 75 |
-
73,162376.898322
|
| 76 |
-
74,162376.915679
|
| 77 |
-
75,162376.932047
|
| 78 |
-
76,162376.950147
|
| 79 |
-
77,162376.964856
|
| 80 |
-
78,162376.982324
|
| 81 |
-
79,162376.998707
|
| 82 |
-
80,162377.015172
|
| 83 |
-
81,162377.031899
|
| 84 |
-
82,162377.048688
|
| 85 |
-
83,162377.065103
|
| 86 |
-
84,162377.081601
|
| 87 |
-
85,162377.098564
|
| 88 |
-
86,162377.115518
|
| 89 |
-
87,162377.131997
|
| 90 |
-
88,162377.148966
|
| 91 |
-
89,162377.165145
|
| 92 |
-
90,162377.182579
|
| 93 |
-
91,162377.198898
|
| 94 |
-
92,162377.215455
|
| 95 |
-
93,162377.231874
|
| 96 |
-
94,162377.249381
|
| 97 |
-
95,162377.265268
|
| 98 |
-
96,162377.282405
|
| 99 |
-
97,162377.298527
|
| 100 |
-
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multi_sessions_20251119_192832/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 sha256:07a8d35ef53c2689d74dda60b2ac519e0c33d2a00ea5c5d4e629468721b85bad
|
| 3 |
-
size 3001199
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multi_sessions_20251119_192832/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_192832/session_005/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 162375.685471s
|
| 6 |
-
Vive 第一帧时间戳: 1763551781.571934s
|
| 7 |
-
计算的 offset: -1763389405.886463s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.886463
|
| 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 19:29:49
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
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