Delete multi_sessions_20251119_181730
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- multi_sessions_20251119_181730/collection_summary.txt +0 -93
- multi_sessions_20251119_181730/session_001/Clamp_Data/clamp.csv +0 -1563
- multi_sessions_20251119_181730/session_001/Clamp_Data/clamp_data_tum.txt +0 -1562
- multi_sessions_20251119_181730/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181730/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181730/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181730/session_001/RGB_Images/timestamps.csv +0 -470
- multi_sessions_20251119_181730/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181730/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181730/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181730/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181730/session_002/Clamp_Data/clamp.csv +0 -1542
- multi_sessions_20251119_181730/session_002/Clamp_Data/clamp_data_tum.txt +0 -1541
- multi_sessions_20251119_181730/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181730/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181730/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181730/session_002/RGB_Images/timestamps.csv +0 -463
- multi_sessions_20251119_181730/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181730/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181730/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181730/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181730/session_003/Clamp_Data/clamp.csv +0 -1534
- multi_sessions_20251119_181730/session_003/Clamp_Data/clamp_data_tum.txt +0 -1533
- multi_sessions_20251119_181730/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181730/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181730/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181730/session_003/RGB_Images/timestamps.csv +0 -461
- multi_sessions_20251119_181730/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181730/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181730/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181730/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181730/session_004/Clamp_Data/clamp.csv +0 -1645
- multi_sessions_20251119_181730/session_004/Clamp_Data/clamp_data_tum.txt +0 -1644
- multi_sessions_20251119_181730/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181730/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181730/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181730/session_004/RGB_Images/timestamps.csv +0 -494
- multi_sessions_20251119_181730/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181730/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181730/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_181730/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_181730/session_005/Clamp_Data/clamp.csv +0 -1549
- multi_sessions_20251119_181730/session_005/Clamp_Data/clamp_data_tum.txt +0 -1548
- multi_sessions_20251119_181730/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_181730/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_181730/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_181730/session_005/RGB_Images/timestamps.csv +0 -465
- multi_sessions_20251119_181730/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_181730/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_181730/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_181730/collection_summary.txt
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========================================
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多会话XVisio数据采集摘要（Buffered版本）
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========================================
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开始时间: 2025年 11月 19日 星期三 18:17:31 CST
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设备模式: 单设备
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设备数量: 1
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计划会话数: 5
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会话间隔: 3秒
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摘要目录: ./multi_sessions_20251119_181730
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ToF模式: off
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Python脚本: ./single_session_data_collector_buffered.py
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配置文件: ../start_process/config.json
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========================================
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设备信息:
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XV序列号: 250801DR48FP25002087
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Vive序列号: LHR_B728E669
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设备标签: main
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==========================================
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会话 1 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:17:31 CST
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输出目录: ./multi_sessions_20251119_181730/session_001
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结束时间: 2025年 11月 19日 星期三 18:17:46 CST
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持续时间: 15秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_181730/session_001
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==========================================
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会话 2 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:17:52 CST
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输出目录: ./multi_sessions_20251119_181730/session_002
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结束时间: 2025年 11月 19日 星期三 18:18:12 CST
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持续时间: 20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_181730/session_002
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==========================================
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会话 3 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:18:16 CST
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输出目录: ./multi_sessions_20251119_181730/session_003
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结束时间: 2025年 11月 19日 星期三 18:18:29 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_181730/session_003
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==========================================
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会话 4 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:18:33 CST
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输出目录: ./multi_sessions_20251119_181730/session_004
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结束时间: 2025年 11月 19日 星期三 18:18:49 CST
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持续时间: 16秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_181730/session_004
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==========================================
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会话 5 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:18:53 CST
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输出目录: ./multi_sessions_20251119_181730/session_005
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结束时间: 2025年 11月 19日 星期三 18:19:10 CST
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持续时间: 17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_181730/session_005
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==========================================
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采集完成总结:
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==========================================
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完成时间: 2025年 11月 19日 星期三 18:19:10 CST
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成功会话数: 5
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失败会话数: 0
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总计划会话数: 5
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实际完成会话数: 5
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成功率: 100%
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数据目录结构:
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./multi_sessions_20251119_181730/
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├─ session_001/
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├─ session_002/
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├─ session_003/
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├─ session_004/
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├─ session_005/
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└─ collection_summary.txt
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multi_sessions_20251119_181730/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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158055.802344,87.75845985808992
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| 1513 |
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158055.807379,87.75845985808992
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| 1514 |
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158055.812317,87.75845985808992
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| 1515 |
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158055.817631,87.75845985808992
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| 1516 |
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158055.822301,87.74938814042085
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| 1517 |
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158055.827355,87.74938814042085
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| 1518 |
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158055.83291,87.74938814042085
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| 1519 |
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158055.837341,87.75845985808992
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158055.842351,87.75845985808992
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158055.847319,87.75845985808992
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158055.853439,87.75845985808992
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158055.8573,87.75845985808992
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158055.862297,87.75845985808992
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158055.869668,87.75845985808992
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158055.872977,87.75845985808992
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| 1527 |
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158055.87731,87.75845985808992
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| 1528 |
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158055.88237,87.75845985808992
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158055.887485,87.75845985808992
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158055.892303,87.75845985808992
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| 1532 |
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158055.902479,87.75845985808992
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158055.907312,87.75845985808992
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158055.913033,87.75845985808992
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158055.922334,87.75845985808992
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158055.927454,87.75845985808992
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| 1538 |
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158055.935844,87.75845985808992
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| 1539 |
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158055.938977,87.76753061726019
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| 1540 |
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158055.942324,87.76753061726019
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| 1541 |
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158055.947642,87.76753061726019
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| 1542 |
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158055.952981,87.76753061726019
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| 1543 |
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158055.957298,87.75845985808992
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| 1544 |
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158055.962296,87.76753061726019
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| 1545 |
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158055.967322,87.75845985808992
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| 1546 |
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158055.973216,87.75845985808992
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| 1547 |
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158055.977305,87.75845985808992
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| 1548 |
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158055.986378,87.75845985808992
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| 1549 |
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158055.989986,87.75845985808992
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| 1550 |
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158055.992994,87.75845985808992
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| 1551 |
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158055.997304,87.75845985808992
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| 1552 |
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158056.00242,87.76753061726019
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| 1553 |
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158056.007301,87.75845985808992
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| 1554 |
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158056.01231,87.76753061726019
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| 1555 |
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158056.01769,87.76753061726019
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| 1556 |
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158056.0223,87.76753061726019
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| 1557 |
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158056.027367,87.76753061726019
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| 1558 |
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158056.03288,87.76753061726019
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| 1559 |
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158056.037414,87.76753061726019
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| 1560 |
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158056.042382,87.76753061726019
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| 1561 |
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158056.047311,87.76753061726019
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| 1562 |
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158056.052352,87.76753061726019
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| 1563 |
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158056.057299,87.76753061726019
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|
multi_sessions_20251119_181730/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1562 +0,0 @@
|
|
| 1 |
-
158048.254339000 87.91253231378958
|
| 2 |
-
158048.258142000 87.91253231378958
|
| 3 |
-
158048.262425000 87.91253231378958
|
| 4 |
-
158048.267456000 87.91253231378958
|
| 5 |
-
158048.272615000 87.91253231378958
|
| 6 |
-
158048.277417000 87.91253231378958
|
| 7 |
-
158048.282416000 87.91253231378958
|
| 8 |
-
158048.287663000 87.91253231378958
|
| 9 |
-
158048.292415000 87.91253231378958
|
| 10 |
-
158048.297430000 87.91253231378958
|
| 11 |
-
158048.304435000 87.91253231378958
|
| 12 |
-
158048.308441000 87.91253231378958
|
| 13 |
-
158048.312903000 87.91253231378958
|
| 14 |
-
158048.317580000 87.91253231378958
|
| 15 |
-
158048.322409000 87.91253231378958
|
| 16 |
-
158048.327530000 87.91253231378958
|
| 17 |
-
158048.333506000 87.91253231378958
|
| 18 |
-
158048.337471000 87.91253231378958
|
| 19 |
-
158048.342411000 87.91253231378958
|
| 20 |
-
158048.347442000 87.91253231378958
|
| 21 |
-
158048.354038000 87.91253231378958
|
| 22 |
-
158048.357462000 87.91253231378958
|
| 23 |
-
158048.362432000 87.91253231378958
|
| 24 |
-
158048.367471000 87.91253231378958
|
| 25 |
-
158048.372422000 87.91253231378958
|
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multi_sessions_20251119_181730/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: 780
|
| 19 |
-
均值融合 (都低速): 780
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:17:43
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_181730/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181730/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181730/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,470 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158048.237503
|
| 3 |
-
1,158048.252821
|
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2,158048.273594
|
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|
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|
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5,158048.321044
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10,158048.406613
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11,158048.419975
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12,158048.437631
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|
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|
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81,158049.586243
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|
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83,158049.619067
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84,158049.63765
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99,158049.885642
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123,158050.286163
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|
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|
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126,158050.337035
|
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127,158050.352367
|
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128,158050.373102
|
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129,158050.386108
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131,158050.418904
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132,158050.43927
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133,158050.45248
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|
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135,158050.486028
|
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|
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multi_sessions_20251119_181730/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:1477b759a303d69b1522c47eaf1c20f14d92c6e29de4f15bdeb2724fea1ea25a
|
| 3 |
-
size 3537349
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multi_sessions_20251119_181730/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181730/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: 158048.249456s
|
| 6 |
-
Vive 第一帧时间戳: 1763547454.137404s
|
| 7 |
-
计算的 offset: -1763389405.887949s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.887949
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:17:43
|
| 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_181730/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_181730/session_002/Clamp_Data/clamp.csv
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158078.917635,87.14854134183487
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|
multi_sessions_20251119_181730/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1541 +0,0 @@
|
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| 1 |
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158072.237363000 87.8128700315816
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158072.242092000 87.8128700315816
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158072.249564000 87.8128700315816
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158072.592205000 87.8128700315816
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158072.768100000 87.8128700315816
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multi_sessions_20251119_181730/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: 771
|
| 19 |
-
均值融合 (都低速): 771
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:18:07
|
| 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_181730/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181730/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181730/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,463 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158072.236845
|
| 3 |
-
1,158072.2497
|
| 4 |
-
2,158072.265133
|
| 5 |
-
3,158072.281968
|
| 6 |
-
4,158072.30031
|
| 7 |
-
5,158072.315678
|
| 8 |
-
6,158072.333991
|
| 9 |
-
7,158072.34923
|
| 10 |
-
8,158072.370233
|
| 11 |
-
9,158072.382578
|
| 12 |
-
10,158072.400428
|
| 13 |
-
11,158072.415353
|
| 14 |
-
12,158072.433882
|
| 15 |
-
13,158072.449437
|
| 16 |
-
14,158072.468048
|
| 17 |
-
15,158072.482065
|
| 18 |
-
16,158072.498797
|
| 19 |
-
17,158072.517184
|
| 20 |
-
18,158072.532141
|
| 21 |
-
19,158072.548616
|
| 22 |
-
20,158072.568158
|
| 23 |
-
21,158072.582009
|
| 24 |
-
22,158072.598792
|
| 25 |
-
23,158072.615393
|
| 26 |
-
24,158072.63151
|
| 27 |
-
25,158072.650735
|
| 28 |
-
26,158072.665094
|
| 29 |
-
27,158072.681934
|
| 30 |
-
28,158072.698738
|
| 31 |
-
29,158072.717015
|
| 32 |
-
30,158072.734865
|
| 33 |
-
31,158072.748963
|
| 34 |
-
32,158072.768281
|
| 35 |
-
33,158072.782154
|
| 36 |
-
34,158072.798775
|
| 37 |
-
35,158072.81541
|
| 38 |
-
36,158072.831627
|
| 39 |
-
37,158072.850827
|
| 40 |
-
38,158072.865094
|
| 41 |
-
39,158072.881885
|
| 42 |
-
40,158072.898189
|
| 43 |
-
41,158072.915843
|
| 44 |
-
42,158072.934614
|
| 45 |
-
43,158072.949319
|
| 46 |
-
44,158072.970197
|
| 47 |
-
45,158072.982565
|
| 48 |
-
46,158073.000467
|
| 49 |
-
47,158073.015481
|
| 50 |
-
48,158073.03158
|
| 51 |
-
49,158073.048489
|
| 52 |
-
50,158073.06778
|
| 53 |
-
51,158073.081763
|
| 54 |
-
52,158073.100064
|
| 55 |
-
53,158073.11504
|
| 56 |
-
54,158073.134282
|
| 57 |
-
55,158073.151057
|
| 58 |
-
56,158073.165163
|
| 59 |
-
57,158073.18168
|
| 60 |
-
58,158073.200039
|
| 61 |
-
59,158073.215378
|
| 62 |
-
60,158073.231617
|
| 63 |
-
61,158073.248724
|
| 64 |
-
62,158073.267798
|
| 65 |
-
63,158073.281639
|
| 66 |
-
64,158073.298739
|
| 67 |
-
65,158073.316888
|
| 68 |
-
66,158073.334533
|
| 69 |
-
67,158073.34911
|
| 70 |
-
68,158073.369349
|
| 71 |
-
69,158073.381745
|
| 72 |
-
70,158073.400051
|
| 73 |
-
71,158073.415557
|
| 74 |
-
72,158073.431613
|
| 75 |
-
73,158073.4486
|
| 76 |
-
74,158073.468552
|
| 77 |
-
75,158073.482032
|
| 78 |
-
76,158073.500005
|
| 79 |
-
77,158073.515278
|
| 80 |
-
78,158073.534127
|
| 81 |
-
79,158073.549645
|
| 82 |
-
80,158073.565267
|
| 83 |
-
81,158073.581713
|
| 84 |
-
82,158073.60006
|
| 85 |
-
83,158073.615612
|
| 86 |
-
84,158073.633705
|
| 87 |
-
85,158073.648745
|
| 88 |
-
86,158073.668654
|
| 89 |
-
87,158073.682329
|
| 90 |
-
88,158073.700299
|
| 91 |
-
89,158073.715628
|
| 92 |
-
90,158073.734195
|
| 93 |
-
91,158073.749096
|
| 94 |
-
92,158073.766801
|
| 95 |
-
93,158073.782031
|
| 96 |
-
94,158073.798032
|
| 97 |
-
95,158073.815495
|
| 98 |
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multi_sessions_20251119_181730/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:f5a4143aec1dd31c6271c0813f13d73ca9625e7bfddfb3d8a78dc59588cb5fb1
|
| 3 |
-
size 3667558
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multi_sessions_20251119_181730/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181730/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: 158072.239454s
|
| 6 |
-
Vive 第一帧时间戳: 1763547478.117367s
|
| 7 |
-
计算的 offset: -1763389405.877913s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.877913
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:18:07
|
| 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_181730/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_181730/session_003/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1534 +0,0 @@
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timestamp,clamp
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|
multi_sessions_20251119_181730/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1533 +0,0 @@
|
|
| 1 |
-
158091.572246000 87.68585928849235
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| 2 |
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158091.577619000 87.69493771241248
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158091.651811000 87.69493771241248
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158091.666958000 87.68585928849235
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| 44 |
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158091.787132000 87.68585928849235
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158091.793466000 87.69493771241248
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| 46 |
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158091.797379000 87.69493771241248
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| 47 |
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158091.801807000 87.68585928849235
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| 48 |
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158091.806834000 87.68585928849235
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| 49 |
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158091.813112000 87.68585928849235
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| 50 |
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158091.816804000 87.68585928849235
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| 51 |
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158091.821802000 87.68585928849235
|
| 52 |
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158091.826892000 87.68585928849235
|
| 53 |
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158091.832944000 87.68585928849235
|
| 54 |
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158091.836870000 87.68585928849235
|
| 55 |
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158091.841839000 87.69493771241248
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| 56 |
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158091.847361000 87.68585928849235
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| 57 |
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158091.851803000 87.68585928849235
|
| 58 |
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158091.856806000 87.69493771241248
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| 59 |
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158091.862574000 87.69493771241248
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| 60 |
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158091.866818000 87.69493771241248
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| 61 |
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158091.872622000 87.69493771241248
|
| 62 |
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158091.876855000 87.69493771241248
|
| 63 |
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158091.881849000 87.69493771241248
|
| 64 |
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158091.886808000 87.69493771241248
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| 65 |
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158091.892947000 87.69493771241248
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| 66 |
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158091.896795000 87.69493771241248
|
| 67 |
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158091.901799000 87.69493771241248
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158091.907069000 87.69493771241248
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| 69 |
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158091.912844000 87.69493771241248
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| 70 |
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158091.916793000 87.69493771241248
|
| 71 |
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158091.921798000 87.69493771241248
|
| 72 |
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158091.929370000 87.68585928849235
|
| 73 |
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158091.932488000 87.68585928849235
|
| 74 |
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158091.937278000 87.69493771241248
|
| 75 |
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158091.942071000 87.69493771241248
|
| 76 |
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158091.947155000 87.69493771241248
|
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| 1482 |
-
158098.976739000 87.70401517864401
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| 1483 |
-
158098.981702000 87.70401517864401
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| 1484 |
-
158098.986745000 87.69493771241248
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| 1485 |
-
158098.994673000 87.69493771241248
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| 1486 |
-
158098.998367000 87.69493771241248
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| 1487 |
-
158099.001707000 87.70401517864401
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| 1488 |
-
158099.008317000 87.70401517864401
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| 1489 |
-
158099.012781000 87.70401517864401
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| 1490 |
-
158099.016690000 87.70401517864401
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| 1491 |
-
158099.021689000 87.70401517864401
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| 1492 |
-
158099.028558000 87.70401517864401
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| 1493 |
-
158099.032391000 87.70401517864401
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| 1494 |
-
158099.037355000 87.70401517864401
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| 1495 |
-
158099.041743000 87.70401517864401
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| 1496 |
-
158099.046766000 87.70401517864401
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| 1497 |
-
158099.051973000 87.69493771241248
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| 1498 |
-
158099.056847000 87.69493771241248
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| 1499 |
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158099.061698000 87.69493771241248
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| 1500 |
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158099.066753000 87.69493771241248
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| 1501 |
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158099.073120000 87.70401517864401
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| 1502 |
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158099.076729000 87.70401517864401
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| 1503 |
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158099.081703000 87.70401517864401
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| 1504 |
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158099.086824000 87.70401517864401
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| 1505 |
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158099.095050000 87.70401517864401
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| 1506 |
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158099.098349000 87.70401517864401
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| 1507 |
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158099.101694000 87.70401517864401
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| 1508 |
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158099.106699000 87.70401517864401
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| 1509 |
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158099.112384000 87.70401517864401
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| 1510 |
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158099.116690000 87.70401517864401
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| 1511 |
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158099.121691000 87.70401517864401
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| 1512 |
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158099.128691000 87.70401517864401
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| 1513 |
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158099.132360000 87.70401517864401
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| 1514 |
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158099.137229000 87.70401517864401
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| 1515 |
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158099.141729000 87.70401517864401
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| 1516 |
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158099.146765000 87.70401517864401
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| 1517 |
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158099.152273000 87.70401517864401
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| 1518 |
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158099.156701000 87.70401517864401
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| 1519 |
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158099.162093000 87.70401517864401
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| 1520 |
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158099.166737000 87.70401517864401
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| 1521 |
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158099.172470000 87.70401517864401
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| 1522 |
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158099.176830000 87.71309168707114
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| 1523 |
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158099.181692000 87.71309168707114
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| 1524 |
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158099.186698000 87.71309168707114
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| 1525 |
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158099.194406000 87.71309168707114
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| 1526 |
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158099.197352000 87.71309168707114
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| 1527 |
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158099.201698000 87.70401517864401
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| 1528 |
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158099.206873000 87.71309168707114
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| 1529 |
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158099.211930000 87.71309168707114
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| 1530 |
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158099.216693000 87.71309168707114
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| 1531 |
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158099.221688000 87.72216723757813
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| 1532 |
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158099.228692000 87.72216723757813
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| 1533 |
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|
multi_sessions_20251119_181730/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: 765
|
| 19 |
-
均值融合 (都低速): 765
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:18:26
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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|
multi_sessions_20251119_181730/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:2c0a24ab7f9cb84d1f6fb42b0165377da548d231322d6e3a40585e0d309deff0
|
| 3 |
-
size 3651703
|
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|
multi_sessions_20251119_181730/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181730/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: 158091.571459s
|
| 6 |
-
Vive 第一帧时间戳: 1763547497.457554s
|
| 7 |
-
计算的 offset: -1763389405.886095s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.886095
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:18:26
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
|
|
|
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|
multi_sessions_20251119_181730/session_003/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181730/session_004/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1645 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
-
158110.566437,87.96684458479821
|
| 3 |
-
158110.574718,87.95779494184795
|
| 4 |
-
158110.57811,87.95779494184795
|
| 5 |
-
158110.581767,87.95779494184795
|
| 6 |
-
158110.586585,87.95779494184795
|
| 7 |
-
158110.591935,87.96684458479821
|
| 8 |
-
158110.596463,87.96684458479821
|
| 9 |
-
158110.601434,87.96684458479821
|
| 10 |
-
158110.606487,87.96684458479821
|
| 11 |
-
158110.612538,87.95779494184795
|
| 12 |
-
158110.616444,87.95779494184795
|
| 13 |
-
158110.621509,87.95779494184795
|
| 14 |
-
158110.627122,87.95779494184795
|
| 15 |
-
158110.631424,87.95779494184795
|
| 16 |
-
158110.63643,87.95779494184795
|
| 17 |
-
158110.642147,87.95779494184795
|
| 18 |
-
158110.646422,87.95779494184795
|
| 19 |
-
158110.651972,87.95779494184795
|
| 20 |
-
158110.656462,87.95779494184795
|
| 21 |
-
158110.661426,87.95779494184795
|
| 22 |
-
158110.666467,87.95779494184795
|
| 23 |
-
158110.672763,87.95779494184795
|
| 24 |
-
158110.676433,87.95779494184795
|
| 25 |
-
158110.681422,87.95779494184795
|
| 26 |
-
158110.686423,87.95779494184795
|
| 27 |
-
158110.692948,87.95779494184795
|
| 28 |
-
158110.69642,87.96684458479821
|
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|
multi_sessions_20251119_181730/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1644 +0,0 @@
|
|
| 1 |
-
158110.566437000 87.96684458479821
|
| 2 |
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158110.574718000 87.95779494184795
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158110.578110000 87.95779494184795
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158110.581767000 87.95779494184795
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158110.591935000 87.96684458479821
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158110.601434000 87.96684458479821
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158110.892961000 87.96684458479821
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158110.912561000 87.96684458479821
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158110.924765000 87.96684458479821
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158110.928133000 87.96684458479821
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158110.978131000 87.95779494184795
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158110.996515000 87.95779494184795
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158111.001475000 87.95779494184795
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158111.006687000 87.96684458479821
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158111.012598000 87.96684458479821
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158111.021530000 87.96684458479821
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| 1608 |
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158118.601421000 87.73124183004924
|
| 1609 |
-
158118.609041000 87.72216723757813
|
| 1610 |
-
158118.612057000 87.72216723757813
|
| 1611 |
-
158118.616454000 87.72216723757813
|
| 1612 |
-
158118.623287000 87.72216723757813
|
| 1613 |
-
158118.627071000 87.73124183004924
|
| 1614 |
-
158118.631810000 87.73124183004924
|
| 1615 |
-
158118.636407000 87.73124183004924
|
| 1616 |
-
158118.641635000 87.72216723757813
|
| 1617 |
-
158118.646406000 87.72216723757813
|
| 1618 |
-
158118.651999000 87.73124183004924
|
| 1619 |
-
158118.656464000 87.73124183004924
|
| 1620 |
-
158118.661404000 87.73124183004924
|
| 1621 |
-
158118.666696000 87.72216723757813
|
| 1622 |
-
158118.673965000 87.72216723757813
|
| 1623 |
-
158118.677061000 87.72216723757813
|
| 1624 |
-
158118.681422000 87.71309168707114
|
| 1625 |
-
158118.686443000 87.71309168707114
|
| 1626 |
-
158118.692107000 87.71309168707114
|
| 1627 |
-
158118.696404000 87.71309168707114
|
| 1628 |
-
158118.701413000 87.72216723757813
|
| 1629 |
-
158118.708215000 87.72216723757813
|
| 1630 |
-
158118.711404000 87.72216723757813
|
| 1631 |
-
158118.716407000 87.72216723757813
|
| 1632 |
-
158118.721432000 87.72216723757813
|
| 1633 |
-
158118.726417000 87.72216723757813
|
| 1634 |
-
158118.732669000 87.72216723757813
|
| 1635 |
-
158118.736404000 87.73124183004924
|
| 1636 |
-
158118.741840000 87.73124183004924
|
| 1637 |
-
158118.746402000 87.73124183004924
|
| 1638 |
-
158118.751401000 87.73124183004924
|
| 1639 |
-
158118.756440000 87.73124183004924
|
| 1640 |
-
158118.761427000 87.73124183004924
|
| 1641 |
-
158118.766433000 87.73124183004924
|
| 1642 |
-
158118.773617000 87.72216723757813
|
| 1643 |
-
158118.777061000 87.72216723757813
|
| 1644 |
-
158118.781440000 87.72216723757813
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multi_sessions_20251119_181730/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: 822
|
| 19 |
-
均值融合 (都低速): 822
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:18:46
|
| 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_181730/session_004/Merged_Trajectory/merged_trajectory.csv
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multi_sessions_20251119_181730/session_004/Merged_Trajectory/merged_trajectory.txt
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multi_sessions_20251119_181730/session_004/RGB_Images/timestamps.csv
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346,158116.325826
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348,158116.357809
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459,158118.207
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|
multi_sessions_20251119_181730/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:308f21cab6785c21d8b842d460d4fee0bfbf0447b4f51bf9b8ea1d6c009b7bd2
|
| 3 |
-
size 3770332
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|
multi_sessions_20251119_181730/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_181730/session_004/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 158110.565459s
|
| 6 |
-
Vive 第一帧时间戳: 1763547516.447422s
|
| 7 |
-
计算的 offset: -1763389405.881963s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.881963
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 18:18:46
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
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| 18 |
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_181730/session_004/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_181730/session_005/Clamp_Data/clamp.csv
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158139.43627,87.65861827175821
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| 1449 |
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158139.441165,87.65861827175821
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| 1450 |
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158139.446347,87.65861827175821
|
| 1451 |
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158139.453743,87.64953601824159
|
| 1452 |
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158139.45677,87.64953601824159
|
| 1453 |
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158139.461127,87.64953601824159
|
| 1454 |
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158139.466489,87.65861827175821
|
| 1455 |
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158139.472235,87.65861827175821
|
| 1456 |
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158139.47612,87.66769956804939
|
| 1457 |
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158139.481121,87.65861827175821
|
| 1458 |
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158139.487978,87.65861827175821
|
| 1459 |
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158139.491826,87.65861827175821
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158139.496541,87.65861827175821
|
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158139.501185,87.65861827175821
|
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158139.506131,87.65861827175821
|
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158139.51112,87.65861827175821
|
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158139.516127,87.65861827175821
|
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158139.521225,87.65861827175821
|
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158139.526138,87.65861827175821
|
| 1467 |
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158139.531989,87.65861827175821
|
| 1468 |
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158139.536845,87.65861827175821
|
| 1469 |
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158139.541123,87.65861827175821
|
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158139.54614,87.65861827175821
|
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158139.55318,87.65861827175821
|
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158139.556764,87.65861827175821
|
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158139.561124,87.65861827175821
|
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158139.566123,87.65861827175821
|
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158139.572088,87.65861827175821
|
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158139.576113,87.65861827175821
|
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158139.581112,87.65861827175821
|
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158139.58762,87.65861827175821
|
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158139.59112,87.65861827175821
|
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158139.596559,87.65861827175821
|
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158139.601188,87.65861827175821
|
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158139.606521,87.65861827175821
|
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158139.611434,87.65861827175821
|
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158139.616864,87.65861827175821
|
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158139.621233,87.65861827175821
|
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158139.626159,87.65861827175821
|
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158139.631762,87.65861827175821
|
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158139.636142,87.66769956804939
|
| 1489 |
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158139.641116,87.66769956804939
|
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158139.646167,87.66769956804939
|
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158139.654318,87.65861827175821
|
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158139.657768,87.65861827175821
|
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158139.661119,87.65861827175821
|
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158139.669046,87.65861827175821
|
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158139.672775,87.65861827175821
|
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158139.676114,87.66769956804939
|
| 1497 |
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158139.681114,87.65861827175821
|
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158139.687396,87.65861827175821
|
| 1499 |
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158139.691116,87.65861827175821
|
| 1500 |
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158139.69645,87.66769956804939
|
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158139.701263,87.66769956804939
|
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158139.706378,87.65861827175821
|
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158139.711121,87.65861827175821
|
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158139.718639,87.65861827175821
|
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158139.721767,87.65861827175821
|
| 1506 |
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158139.726421,87.65861827175821
|
| 1507 |
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158139.731818,87.65861827175821
|
| 1508 |
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158139.736229,87.65861827175821
|
| 1509 |
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158139.741115,87.65861827175821
|
| 1510 |
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158139.746122,87.64953601824159
|
| 1511 |
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158139.754196,87.65861827175821
|
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158139.757819,87.65861827175821
|
| 1513 |
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158139.761114,87.65861827175821
|
| 1514 |
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158139.766377,87.65861827175821
|
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158139.771422,87.65861827175821
|
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158139.77611,87.65861827175821
|
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158139.781108,87.66769956804939
|
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158139.787142,87.65861827175821
|
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158139.791129,87.65861827175821
|
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158139.796342,87.65861827175821
|
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158139.803365,87.65861827175821
|
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158139.806775,87.65861827175821
|
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158139.811805,87.65861827175821
|
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158139.816308,87.65861827175821
|
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158139.82113,87.66769956804939
|
| 1526 |
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158139.826119,87.66769956804939
|
| 1527 |
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158139.83252,87.66769956804939
|
| 1528 |
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158139.836146,87.66769956804939
|
| 1529 |
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158139.841112,87.66769956804939
|
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158139.846116,87.66769956804939
|
| 1531 |
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158139.854195,87.66769956804939
|
| 1532 |
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158139.857761,87.66769956804939
|
| 1533 |
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158139.861116,87.66769956804939
|
| 1534 |
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158139.868569,87.66769956804939
|
| 1535 |
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158139.872401,87.65861827175821
|
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158139.87611,87.65861827175821
|
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158139.88111,87.65861827175821
|
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158139.887609,87.65861827175821
|
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158139.891125,87.65861827175821
|
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158139.89612,87.66769956804939
|
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158139.901176,87.65861827175821
|
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158139.906125,87.66769956804939
|
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158139.911234,87.65861827175821
|
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158139.916201,87.65861827175821
|
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158139.921114,87.65861827175821
|
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158139.926151,87.65861827175821
|
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158139.932076,87.65861827175821
|
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158139.93635,87.65861827175821
|
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158139.941113,87.65861827175821
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multi_sessions_20251119_181730/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
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@@ -1,1548 +0,0 @@
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| 1437 |
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158139.387966000 87.65861827175821
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| 1438 |
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158139.391789000 87.64953601824159
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158139.396871000 87.65861827175821
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158139.401160000 87.64953601824159
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158139.406162000 87.65861827175821
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158139.411630000 87.65861827175821
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158139.416123000 87.65861827175821
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158139.421383000 87.65861827175821
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158139.426157000 87.65861827175821
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158139.431966000 87.65861827175821
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158139.436270000 87.65861827175821
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158139.441165000 87.65861827175821
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158139.446347000 87.65861827175821
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158139.453743000 87.64953601824159
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158139.456770000 87.64953601824159
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158139.461127000 87.64953601824159
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158139.466489000 87.65861827175821
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158139.472235000 87.65861827175821
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158139.476120000 87.66769956804939
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158139.481121000 87.65861827175821
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158139.487978000 87.65861827175821
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158139.491826000 87.65861827175821
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158139.496541000 87.65861827175821
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158139.501185000 87.65861827175821
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158139.506131000 87.65861827175821
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158139.511120000 87.65861827175821
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158139.516127000 87.65861827175821
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158139.521225000 87.65861827175821
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158139.526138000 87.65861827175821
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158139.531989000 87.65861827175821
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158139.536845000 87.65861827175821
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158139.541123000 87.65861827175821
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158139.546140000 87.65861827175821
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158139.553180000 87.65861827175821
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158139.556764000 87.65861827175821
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158139.561124000 87.65861827175821
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158139.566123000 87.65861827175821
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158139.572088000 87.65861827175821
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158139.576113000 87.65861827175821
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158139.581112000 87.65861827175821
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158139.587620000 87.65861827175821
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158139.591120000 87.65861827175821
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158139.596559000 87.65861827175821
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158139.601188000 87.65861827175821
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158139.611434000 87.65861827175821
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158139.616864000 87.65861827175821
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158139.621233000 87.65861827175821
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158139.626159000 87.65861827175821
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158139.631762000 87.65861827175821
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158139.636142000 87.66769956804939
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158139.641116000 87.66769956804939
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158139.646167000 87.66769956804939
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158139.654318000 87.65861827175821
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158139.657768000 87.65861827175821
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158139.661119000 87.65861827175821
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158139.669046000 87.65861827175821
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158139.672775000 87.65861827175821
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158139.676114000 87.66769956804939
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158139.681114000 87.65861827175821
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158139.687396000 87.65861827175821
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158139.691116000 87.65861827175821
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158139.696450000 87.66769956804939
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158139.701263000 87.66769956804939
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158139.706378000 87.65861827175821
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158139.711121000 87.65861827175821
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158139.718639000 87.65861827175821
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158139.721767000 87.65861827175821
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158139.726421000 87.65861827175821
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158139.731818000 87.65861827175821
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158139.736229000 87.65861827175821
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158139.741115000 87.65861827175821
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158139.746122000 87.64953601824159
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158139.754196000 87.65861827175821
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158139.757819000 87.65861827175821
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158139.761114000 87.65861827175821
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158139.766377000 87.65861827175821
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158139.771422000 87.65861827175821
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158139.776110000 87.65861827175821
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158139.781108000 87.66769956804939
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158139.787142000 87.65861827175821
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158139.791129000 87.65861827175821
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158139.796342000 87.65861827175821
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158139.803365000 87.65861827175821
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158139.806775000 87.65861827175821
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158139.811805000 87.65861827175821
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158139.816308000 87.65861827175821
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158139.821130000 87.66769956804939
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158139.826119000 87.66769956804939
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158139.832520000 87.66769956804939
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158139.836146000 87.66769956804939
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158139.841112000 87.66769956804939
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158139.846116000 87.66769956804939
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158139.854195000 87.66769956804939
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158139.857761000 87.66769956804939
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158139.861116000 87.66769956804939
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158139.868569000 87.66769956804939
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158139.872401000 87.65861827175821
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158139.876110000 87.65861827175821
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158139.881110000 87.65861827175821
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158139.887609000 87.65861827175821
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158139.891125000 87.65861827175821
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158139.896120000 87.66769956804939
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158139.901176000 87.65861827175821
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158139.906125000 87.66769956804939
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158139.911234000 87.65861827175821
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158139.916201000 87.65861827175821
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158139.921114000 87.65861827175821
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158139.926151000 87.65861827175821
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158139.932076000 87.65861827175821
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158139.936350000 87.65861827175821
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158139.941113000 87.65861827175821
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multi_sessions_20251119_181730/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: 773
|
| 19 |
-
均值融合 (都低速): 773
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 18:19:07
|
| 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_181730/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
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|
multi_sessions_20251119_181730/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
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multi_sessions_20251119_181730/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,465 +0,0 @@
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| 1 |
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frame_index,timestamp
|
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-
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multi_sessions_20251119_181730/session_005/RGB_Images/video.mp4
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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| 3 |
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size 3535652
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multi_sessions_20251119_181730/session_005/SLAM_Poses/slam_raw.txt
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multi_sessions_20251119_181730/session_005/Vive_Poses/offset_info.txt
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Vive 时间戳对齐信息
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============================================================
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对齐参数:
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SLAM 第一帧时间戳: 158132.207463s
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Vive 第一帧时间戳: 1763547538.087503s
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计算的 offset: -1763389405.880040s
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对齐公式: vive_aligned = vive_original + -1763389405.880040
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说明:
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- 所有保存的 Vive 数据已使用对齐后的时间戳
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- 时间戳已与 SLAM 数据对齐
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- 坐标已转换到 Gripper 坐标系
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生成时间: 2025-11-19 18:19:07
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设备标签: main
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XV 序列号: 250801DR48FP25002087
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Vive 序列号: LHR_B728E669
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