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Datasets:
FastUMIPro
/
example_data_fastumi_pro_raw

Tasks:
Robotics
Languages:
English
Chinese
Tags:
robotics
manipulation
trajectory-data
multimodal
embodied-ai
License:
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Delete multi_sessions_20251119_184204

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  1. multi_sessions_20251119_184204/collection_summary.txt +0 -93
  2. multi_sessions_20251119_184204/session_001/Clamp_Data/clamp.csv +0 -1202
  3. multi_sessions_20251119_184204/session_001/Clamp_Data/clamp_data_tum.txt +0 -1201
  4. multi_sessions_20251119_184204/session_001/Merged_Trajectory/merge_stats.txt +0 -37
  5. multi_sessions_20251119_184204/session_001/Merged_Trajectory/merged_trajectory.csv +0 -601
  6. multi_sessions_20251119_184204/session_001/Merged_Trajectory/merged_trajectory.txt +0 -600
  7. multi_sessions_20251119_184204/session_001/RGB_Images/timestamps.csv +0 -362
  8. multi_sessions_20251119_184204/session_001/RGB_Images/video.mp4 +0 -3
  9. multi_sessions_20251119_184204/session_001/SLAM_Poses/slam_raw.txt +0 -0
  10. multi_sessions_20251119_184204/session_001/Vive_Poses/offset_info.txt +0 -18
  11. multi_sessions_20251119_184204/session_001/Vive_Poses/vive_data_tum.txt +0 -601
  12. multi_sessions_20251119_184204/session_002/Clamp_Data/clamp.csv +0 -1484
  13. multi_sessions_20251119_184204/session_002/Clamp_Data/clamp_data_tum.txt +0 -1483
  14. multi_sessions_20251119_184204/session_002/Merged_Trajectory/merge_stats.txt +0 -37
  15. multi_sessions_20251119_184204/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
  16. multi_sessions_20251119_184204/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
  17. multi_sessions_20251119_184204/session_002/RGB_Images/timestamps.csv +0 -446
  18. multi_sessions_20251119_184204/session_002/RGB_Images/video.mp4 +0 -3
  19. multi_sessions_20251119_184204/session_002/SLAM_Poses/slam_raw.txt +0 -0
  20. multi_sessions_20251119_184204/session_002/Vive_Poses/offset_info.txt +0 -18
  21. multi_sessions_20251119_184204/session_002/Vive_Poses/vive_data_tum.txt +0 -0
  22. multi_sessions_20251119_184204/session_003/Clamp_Data/clamp.csv +0 -1423
  23. multi_sessions_20251119_184204/session_003/Clamp_Data/clamp_data_tum.txt +0 -1422
  24. multi_sessions_20251119_184204/session_003/Merged_Trajectory/merge_stats.txt +0 -37
  25. multi_sessions_20251119_184204/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
  26. multi_sessions_20251119_184204/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
  27. multi_sessions_20251119_184204/session_003/RGB_Images/timestamps.csv +0 -428
  28. multi_sessions_20251119_184204/session_003/RGB_Images/video.mp4 +0 -3
  29. multi_sessions_20251119_184204/session_003/SLAM_Poses/slam_raw.txt +0 -0
  30. multi_sessions_20251119_184204/session_003/Vive_Poses/offset_info.txt +0 -18
  31. multi_sessions_20251119_184204/session_003/Vive_Poses/vive_data_tum.txt +0 -0
  32. multi_sessions_20251119_184204/session_004/Clamp_Data/clamp.csv +0 -1633
  33. multi_sessions_20251119_184204/session_004/Clamp_Data/clamp_data_tum.txt +0 -1632
  34. multi_sessions_20251119_184204/session_004/Merged_Trajectory/merge_stats.txt +0 -37
  35. multi_sessions_20251119_184204/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
  36. multi_sessions_20251119_184204/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
  37. multi_sessions_20251119_184204/session_004/RGB_Images/timestamps.csv +0 -491
  38. multi_sessions_20251119_184204/session_004/RGB_Images/video.mp4 +0 -3
  39. multi_sessions_20251119_184204/session_004/SLAM_Poses/slam_raw.txt +0 -0
  40. multi_sessions_20251119_184204/session_004/Vive_Poses/offset_info.txt +0 -18
  41. multi_sessions_20251119_184204/session_004/Vive_Poses/vive_data_tum.txt +0 -0
  42. multi_sessions_20251119_184204/session_005/Clamp_Data/clamp.csv +0 -1648
  43. multi_sessions_20251119_184204/session_005/Clamp_Data/clamp_data_tum.txt +0 -1647
  44. multi_sessions_20251119_184204/session_005/Merged_Trajectory/merge_stats.txt +0 -37
  45. multi_sessions_20251119_184204/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
  46. multi_sessions_20251119_184204/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
  47. multi_sessions_20251119_184204/session_005/RGB_Images/timestamps.csv +0 -495
  48. multi_sessions_20251119_184204/session_005/RGB_Images/video.mp4 +0 -3
  49. multi_sessions_20251119_184204/session_005/SLAM_Poses/slam_raw.txt +0 -0
  50. multi_sessions_20251119_184204/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_184204/collection_summary.txt DELETED
@@ -1,93 +0,0 @@
1
- ========================================
2
- 多会话XVisio数据采集摘要（Buffered版本）
3
- ========================================
4
- 开始时间: 2025年 11月 19日 星期三 18:42:05 CST
5
- 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
8
- 会话间隔: 3秒
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- 摘要目录: ./multi_sessions_20251119_184204
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- ToF模式: off
11
- 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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-
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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
19
-
20
-
21
- ==========================================
22
- 会话 1 信息:
23
- ==========================================
24
- 开始时间: 2025年 11月 19日 星期三 18:42:05 CST
25
- 输出目录: ./multi_sessions_20251119_184204/session_001
26
- 结束时间: 2025年 11月 19日 星期三 18:42:17 CST
27
- 持续时间: 12秒
28
- 状态: 成功
29
- 数据验证: 通过
30
- 数据目录: ./multi_sessions_20251119_184204/session_001
31
-
32
- ==========================================
33
- 会话 2 信息:
34
- ==========================================
35
- 开始时间: 2025年 11月 19日 星期三 18:42:22 CST
36
- 输出目录: ./multi_sessions_20251119_184204/session_002
37
- 结束时间: 2025年 11月 19日 星期三 18:42:35 CST
38
- 持续时间: 13秒
39
- 状态: 成功
40
- 数据验证: 通过
41
- 数据目录: ./multi_sessions_20251119_184204/session_002
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-
43
- ==========================================
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- 会话 3 信息:
45
- ==========================================
46
- 开始时间: 2025年 11月 19日 星期三 18:42:38 CST
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- 输出目录: ./multi_sessions_20251119_184204/session_003
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- 结束时间: 2025年 11月 19日 星期三 18:42:51 CST
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- 持续时间: 13秒
50
- 状态: 成功
51
- 数据验证: 通过
52
- 数据目录: ./multi_sessions_20251119_184204/session_003
53
-
54
- ==========================================
55
- 会话 4 信息:
56
- ==========================================
57
- 开始时间: 2025年 11月 19日 星期三 18:42:55 CST
58
- 输出目录: ./multi_sessions_20251119_184204/session_004
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- 结束时间: 2025年 11月 19日 星期三 18:43:10 CST
60
- 持续时间: 15秒
61
- 状态: 成功
62
- 数据验证: 通过
63
- 数据目录: ./multi_sessions_20251119_184204/session_004
64
-
65
- ==========================================
66
- 会话 5 信息:
67
- ==========================================
68
- 开始时间: 2025年 11月 19日 星期三 18:43:14 CST
69
- 输出目录: ./multi_sessions_20251119_184204/session_005
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- 结束时间: 2025年 11月 19日 星期三 18:43:29 CST
71
- 持续时间: 15秒
72
- 状态: 成功
73
- 数据验证: 通过
74
- 数据目录: ./multi_sessions_20251119_184204/session_005
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-
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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 18:43:29 CST
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- 成功会话数: 5
81
- 失败会话数: 0
82
- 总计划会话数: 5
83
- 实际完成会话数: 5
84
- 成功率: 100%
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-
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- 数据目录结构:
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- ./multi_sessions_20251119_184204/
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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
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
multi_sessions_20251119_184204/session_001/Clamp_Data/clamp.csv DELETED
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- timestamp,clamp
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multi_sessions_20251119_184204/session_001/Merged_Trajectory/merged_trajectory.txt DELETED
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448
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449
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450
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451
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452
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453
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454
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455
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456
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457
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458
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459
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460
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461
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462
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463
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464
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465
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466
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467
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468
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469
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470
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471
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472
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473
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474
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475
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476
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477
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478
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479
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480
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481
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482
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483
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484
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485
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486
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487
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488
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489
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490
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491
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492
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493
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494
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495
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496
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497
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498
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499
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500
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501
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502
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503
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504
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505
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506
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507
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508
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509
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510
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511
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512
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513
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514
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515
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516
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517
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518
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519
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520
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521
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522
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523
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524
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525
- 159527.49001908302 0.2899905743067355 -0.19296318251353536 -0.0025075612016075 -0.043647008028483966 0.2887831001629345 -0.12255831188656469 0.9485139534756258
526
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527
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528
- 159527.5199174881 0.28458215105448087 -0.18963690916415038 0.011546095173195083 -0.045906059747488445 0.27983957896843115 -0.1239120769020392 0.9509091654406611
529
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530
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531
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532
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533
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534
- 159527.57987475395 0.2723623381674468 -0.18135480660277553 0.037062808201792585 -0.05067950149151258 0.2643568804977098 -0.12296885153680868 0.9552097619967093
535
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536
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537
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538
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539
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540
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541
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542
- 159527.65994238853 0.254720338838071 -0.17071897007592507 0.06476714534223582 -0.06490355443572819 0.2435381572113888 -0.12347890614772432 0.9598070922535689
543
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544
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545
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multi_sessions_20251119_184204/session_001/SLAM_Poses/slam_raw.txt DELETED
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multi_sessions_20251119_184204/session_001/Vive_Poses/offset_info.txt DELETED
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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: 159522.249976s
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- Vive 第一帧时间戳: 1763548928.132525s
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- 计算的 offset: -1763389405.882549s
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- 对齐公式: vive_aligned = vive_original + -1763389405.882549
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-
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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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-
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- 生成时间: 2025-11-19 18:42:15
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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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458
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459
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460
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461
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462
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463
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464
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465
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466
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467
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468
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469
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470
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471
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472
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473
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474
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475
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476
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477
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478
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479
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480
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481
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482
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483
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484
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485
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486
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487
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488
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489
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490
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491
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492
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493
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494
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495
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496
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497
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498
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499
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500
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501
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502
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503
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504
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505
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506
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507
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508
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509
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510
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511
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512
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513
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514
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515
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516
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517
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518
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519
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520
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521
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522
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523
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524
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525
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526
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527
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528
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529
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530
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531
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532
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533
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534
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535
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536
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537
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538
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539
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540
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541
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542
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543
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544
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545
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546
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547
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548
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549
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550
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551
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552
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553
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554
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555
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- 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: 741
19
- 均值融合 (都低速): 741
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 18:42:32
35
- 设备标签: main
36
- XV 序列号: 250801DR48FP25002087
37
- Vive 序列号: LHR_B728E669
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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- version https://git-lfs.github.com/spec/v1
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- size 3637954
 
 
 
 
multi_sessions_20251119_184204/session_002/SLAM_Poses/slam_raw.txt DELETED
The diff for this file is too large to render. See raw diff
 
multi_sessions_20251119_184204/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: 159537.225977s
6
- Vive 第一帧时间戳: 1763548943.112423s
7
- 计算的 offset: -1763389405.886446s
8
- 对齐公式: vive_aligned = vive_original + -1763389405.886446
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 18:42:32
16
- 设备标签: main
17
- XV 序列号: 250801DR48FP25002087
18
- Vive 序列号: LHR_B728E669
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
multi_sessions_20251119_184204/session_002/Vive_Poses/vive_data_tum.txt DELETED
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multi_sessions_20251119_184204/session_003/Clamp_Data/clamp.csv DELETED
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- version https://git-lfs.github.com/spec/v1
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- oid sha256:4536d99e94495250667ca617270a71d255d8894282189c77317176e9506aa9ab
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- size 3486378
 
 
 
 
multi_sessions_20251119_184204/session_003/SLAM_Poses/slam_raw.txt DELETED
The diff for this file is too large to render. See raw diff
 
multi_sessions_20251119_184204/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: 159554.521993s
6
- Vive 第一帧时间戳: 1763548960.402476s
7
- 计算的 offset: -1763389405.880483s
8
- 对齐公式: vive_aligned = vive_original + -1763389405.880483
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 18:42:49
16
- 设备标签: main
17
- XV 序列号: 250801DR48FP25002087
18
- Vive 序列号: LHR_B728E669
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
multi_sessions_20251119_184204/session_003/Vive_Poses/vive_data_tum.txt DELETED
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- Vive 时间戳对齐信息
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- ============================================================
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-
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- 对齐参数:
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- SLAM 第一帧时间戳: 159571.301979s
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- Vive 第一帧时间戳: 1763548977.182533s
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- 生成时间: 2025-11-19 18:43:07
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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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- size 4083280
 
 
 
 
multi_sessions_20251119_184204/session_005/SLAM_Poses/slam_raw.txt DELETED
The diff for this file is too large to render. See raw diff
 
multi_sessions_20251119_184204/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: 159589.821992s
6
- Vive 第一帧时间戳: 1763548995.702499s
7
- 计算的 offset: -1763389405.880507s
8
- 对齐公式: vive_aligned = vive_original + -1763389405.880507
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 18:43:25
16
- 设备标签: main
17
- XV 序列号: 250801DR48FP25002087
18
- Vive 序列号: LHR_B728E669