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- multi_sessions_20251119_184004/collection_summary.txt +93 -0
- multi_sessions_20251119_184004/session_001/Clamp_Data/clamp.csv +1470 -0
- multi_sessions_20251119_184004/session_001/Clamp_Data/clamp_data_tum.txt +1469 -0
- multi_sessions_20251119_184004/session_001/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_184004/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_184004/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_184004/session_001/RGB_Images/timestamps.csv +442 -0
- multi_sessions_20251119_184004/session_001/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_184004/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_184004/session_001/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_184004/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_184004/session_002/Clamp_Data/clamp.csv +1517 -0
- multi_sessions_20251119_184004/session_002/Clamp_Data/clamp_data_tum.txt +1516 -0
- multi_sessions_20251119_184004/session_002/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_184004/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_184004/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_184004/session_002/RGB_Images/timestamps.csv +456 -0
- multi_sessions_20251119_184004/session_002/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_184004/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_184004/session_002/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_184004/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_184004/session_003/Clamp_Data/clamp.csv +1269 -0
- multi_sessions_20251119_184004/session_003/Clamp_Data/clamp_data_tum.txt +1268 -0
- multi_sessions_20251119_184004/session_003/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_184004/session_003/Merged_Trajectory/merged_trajectory.csv +634 -0
- multi_sessions_20251119_184004/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_184004/session_003/RGB_Images/timestamps.csv +381 -0
- multi_sessions_20251119_184004/session_003/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_184004/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_184004/session_003/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_184004/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_184004/session_004/Clamp_Data/clamp.csv +1511 -0
- multi_sessions_20251119_184004/session_004/Clamp_Data/clamp_data_tum.txt +1510 -0
- multi_sessions_20251119_184004/session_004/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_184004/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_184004/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_184004/session_004/RGB_Images/timestamps.csv +454 -0
- multi_sessions_20251119_184004/session_004/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_184004/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_184004/session_004/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_184004/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_184004/session_005/Clamp_Data/clamp.csv +1514 -0
- multi_sessions_20251119_184004/session_005/Clamp_Data/clamp_data_tum.txt +1513 -0
- multi_sessions_20251119_184004/session_005/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_184004/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_184004/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_184004/session_005/RGB_Images/timestamps.csv +455 -0
- multi_sessions_20251119_184004/session_005/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_184004/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_184004/session_005/Vive_Poses/offset_info.txt +18 -0
multi_sessions_20251119_184004/collection_summary.txt
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| 1 |
+
========================================
|
| 2 |
+
多会话XVisio数据采集摘要（Buffered版本）
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| 3 |
+
========================================
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| 4 |
+
开始时间: 2025年 11月 19日 星期三 18:40:05 CST
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| 5 |
+
设备模式: 单设备
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| 6 |
+
设备数量: 1
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| 7 |
+
计划会话数: 5
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| 8 |
+
会话间隔: 3秒
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| 9 |
+
摘要目录: ./multi_sessions_20251119_184004
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| 10 |
+
ToF模式: off
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| 11 |
+
Python脚本: ./single_session_data_collector_buffered.py
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| 12 |
+
配置文件: ../start_process/config.json
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| 13 |
+
========================================
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| 14 |
+
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| 15 |
+
设备信息:
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| 16 |
+
XV序列号: 250801DR48FP25002087
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| 17 |
+
Vive序列号: LHR_B728E669
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| 18 |
+
设备标签: main
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| 19 |
+
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| 20 |
+
|
| 21 |
+
==========================================
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| 22 |
+
会话 1 信息:
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| 23 |
+
==========================================
|
| 24 |
+
开始时间: 2025年 11月 19日 星期三 18:40:05 CST
|
| 25 |
+
输出目录: ./multi_sessions_20251119_184004/session_001
|
| 26 |
+
结束时间: 2025年 11月 19日 星期三 18:40:19 CST
|
| 27 |
+
持续时间: 14秒
|
| 28 |
+
状态: 成功
|
| 29 |
+
数据验证: 通过
|
| 30 |
+
数据目录: ./multi_sessions_20251119_184004/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 18:40:23 CST
|
| 36 |
+
输出目录: ./multi_sessions_20251119_184004/session_002
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| 37 |
+
结束时间: 2025年 11月 19日 星期三 18:40:38 CST
|
| 38 |
+
持续时间: 15秒
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| 39 |
+
状态: 成功
|
| 40 |
+
数据验证: 通过
|
| 41 |
+
数据目录: ./multi_sessions_20251119_184004/session_002
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| 42 |
+
|
| 43 |
+
==========================================
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| 44 |
+
会话 3 信息:
|
| 45 |
+
==========================================
|
| 46 |
+
开始时间: 2025年 11月 19日 星期三 18:40:45 CST
|
| 47 |
+
输出目录: ./multi_sessions_20251119_184004/session_003
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| 48 |
+
结束时间: 2025年 11月 19日 星期三 18:40:58 CST
|
| 49 |
+
持续时间: 13秒
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| 50 |
+
状态: 成功
|
| 51 |
+
数据验证: 通过
|
| 52 |
+
数据目录: ./multi_sessions_20251119_184004/session_003
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| 53 |
+
|
| 54 |
+
==========================================
|
| 55 |
+
会话 4 信息:
|
| 56 |
+
==========================================
|
| 57 |
+
开始时间: 2025年 11月 19日 星期三 18:41:02 CST
|
| 58 |
+
输出目录: ./multi_sessions_20251119_184004/session_004
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| 59 |
+
结束时间: 2025年 11月 19日 星期三 18:41:15 CST
|
| 60 |
+
持续时间: 13秒
|
| 61 |
+
状态: 成功
|
| 62 |
+
数据验证: 通过
|
| 63 |
+
数据目录: ./multi_sessions_20251119_184004/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 18:41:20 CST
|
| 69 |
+
输出目录: ./multi_sessions_20251119_184004/session_005
|
| 70 |
+
结束时间: 2025年 11月 19日 星期三 18:41:33 CST
|
| 71 |
+
持续时间: 13秒
|
| 72 |
+
状态: 成功
|
| 73 |
+
数据验证: 通过
|
| 74 |
+
数据目录: ./multi_sessions_20251119_184004/session_005
|
| 75 |
+
|
| 76 |
+
==========================================
|
| 77 |
+
采集完成总结:
|
| 78 |
+
==========================================
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| 79 |
+
完成时间: 2025年 11月 19日 星期三 18:41:33 CST
|
| 80 |
+
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%
|
| 85 |
+
|
| 86 |
+
数据目录结构:
|
| 87 |
+
./multi_sessions_20251119_184004/
|
| 88 |
+
├─ session_001/
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| 89 |
+
├─ session_002/
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| 90 |
+
├─ session_003/
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| 91 |
+
├─ session_004/
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| 92 |
+
├─ session_005/
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| 93 |
+
└─ collection_summary.txt
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multi_sessions_20251119_184004/session_001/Clamp_Data/clamp.csv
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@@ -0,0 +1,1470 @@
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| 1407 |
+
159408.623954,87.40395376564047
|
| 1408 |
+
159408.628851,87.40395376564047
|
| 1409 |
+
159408.633848,87.40395376564047
|
| 1410 |
+
159408.641116,87.39484475688592
|
| 1411 |
+
159408.644517,87.39484475688592
|
| 1412 |
+
159408.649149,87.39484475688592
|
| 1413 |
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159408.656523,87.40395376564047
|
| 1414 |
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159408.659542,87.40395376564047
|
| 1415 |
+
159408.663872,87.40395376564047
|
| 1416 |
+
159408.669055,87.39484475688592
|
| 1417 |
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159408.674235,87.39484475688592
|
| 1418 |
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159408.678865,87.40395376564047
|
| 1419 |
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159408.683858,87.40395376564047
|
| 1420 |
+
159408.6893,87.41306182041758
|
| 1421 |
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159408.693856,87.41306182041758
|
| 1422 |
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159408.69886,87.40395376564047
|
| 1423 |
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159408.704222,87.40395376564047
|
| 1424 |
+
159408.708849,87.40395376564047
|
| 1425 |
+
159408.713847,87.40395376564047
|
| 1426 |
+
159408.719116,87.40395376564047
|
| 1427 |
+
159408.723874,87.40395376564047
|
| 1428 |
+
159408.728841,87.39484475688592
|
| 1429 |
+
159408.733841,87.40395376564047
|
| 1430 |
+
159408.74118,87.40395376564047
|
| 1431 |
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159408.744583,87.40395376564047
|
| 1432 |
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159408.749347,87.40395376564047
|
| 1433 |
+
159408.756521,87.40395376564047
|
| 1434 |
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159408.759558,87.41306182041758
|
| 1435 |
+
159408.76384,87.40395376564047
|
| 1436 |
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159408.769143,87.40395376564047
|
| 1437 |
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159408.774078,87.40395376564047
|
| 1438 |
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159408.77886,87.40395376564047
|
| 1439 |
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159408.78385,87.41306182041758
|
| 1440 |
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159408.78889,87.40395376564047
|
| 1441 |
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159408.793842,87.41306182041758
|
| 1442 |
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159408.798853,87.41306182041758
|
| 1443 |
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159408.805655,87.41306182041758
|
| 1444 |
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159408.809282,87.41306182041758
|
| 1445 |
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159408.814189,87.41306182041758
|
| 1446 |
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159408.819128,87.40395376564047
|
| 1447 |
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159408.823903,87.40395376564047
|
| 1448 |
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159408.828843,87.41306182041758
|
| 1449 |
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159408.833841,87.41306182041758
|
| 1450 |
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159408.841122,87.41306182041758
|
| 1451 |
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159408.844506,87.41306182041758
|
| 1452 |
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159408.8491,87.41306182041758
|
| 1453 |
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159408.856465,87.41306182041758
|
| 1454 |
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159408.859521,87.41306182041758
|
| 1455 |
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159408.86384,87.41306182041758
|
| 1456 |
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159408.868875,87.41306182041758
|
| 1457 |
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159408.874217,87.42216892110109
|
| 1458 |
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159408.878854,87.41306182041758
|
| 1459 |
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159408.883884,87.41306182041758
|
| 1460 |
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159408.88893,87.41306182041758
|
| 1461 |
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159408.893845,87.41306182041758
|
| 1462 |
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159408.89885,87.41306182041758
|
| 1463 |
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159408.906174,87.41306182041758
|
| 1464 |
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159408.909524,87.41306182041758
|
| 1465 |
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159408.914664,87.41306182041758
|
| 1466 |
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159408.91886,87.41306182041758
|
| 1467 |
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159408.92388,87.41306182041758
|
| 1468 |
+
159408.928838,87.41306182041758
|
| 1469 |
+
159408.933839,87.42216892110109
|
| 1470 |
+
159408.941291,87.41306182041758
|
multi_sessions_20251119_184004/session_001/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1469 @@
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|
| 1 |
+
159401.599484000 87.72216723757813
|
| 2 |
+
159401.604238000 87.72216723757813
|
| 3 |
+
159401.610027000 87.72216723757813
|
| 4 |
+
159401.614741000 87.72216723757813
|
| 5 |
+
159401.619460000 87.72216723757813
|
| 6 |
+
159401.624519000 87.72216723757813
|
| 7 |
+
159401.629273000 87.72216723757813
|
| 8 |
+
159401.634237000 87.72216723757813
|
| 9 |
+
159401.642199000 87.73124183004924
|
| 10 |
+
159401.645907000 87.73124183004924
|
| 11 |
+
159401.649565000 87.73124183004924
|
| 12 |
+
159401.654298000 87.72216723757813
|
| 13 |
+
159401.659710000 87.72216723757813
|
| 14 |
+
159401.664284000 87.72216723757813
|
| 15 |
+
159401.669837000 87.72216723757813
|
| 16 |
+
159401.674977000 87.72216723757813
|
| 17 |
+
159401.679250000 87.72216723757813
|
| 18 |
+
159401.684249000 87.72216723757813
|
| 19 |
+
159401.689293000 87.72216723757813
|
| 20 |
+
159401.694430000 87.71309168707114
|
| 21 |
+
159401.699431000 87.71309168707114
|
| 22 |
+
159401.704596000 87.71309168707114
|
| 23 |
+
159401.709243000 87.71309168707114
|
| 24 |
+
159401.714837000 87.72216723757813
|
| 25 |
+
159401.719445000 87.72216723757813
|
| 26 |
+
159401.724663000 87.72216723757813
|
| 27 |
+
159401.729242000 87.72216723757813
|
| 28 |
+
159401.734237000 87.72216723757813
|
| 29 |
+
159401.742408000 87.71309168707114
|
| 30 |
+
159401.745907000 87.71309168707114
|
| 31 |
+
159401.749653000 87.72216723757813
|
| 32 |
+
159401.754297000 87.72216723757813
|
| 33 |
+
159401.759890000 87.72216723757813
|
| 34 |
+
159401.764243000 87.72216723757813
|
| 35 |
+
159401.769482000 87.71309168707114
|
| 36 |
+
159401.774285000 87.71309168707114
|
| 37 |
+
159401.779253000 87.72216723757813
|
| 38 |
+
159401.784280000 87.72216723757813
|
| 39 |
+
159401.789731000 87.72216723757813
|
| 40 |
+
159401.794241000 87.72216723757813
|
| 41 |
+
159401.799249000 87.73124183004924
|
| 42 |
+
159401.804233000 87.72216723757813
|
| 43 |
+
159401.809862000 87.72216723757813
|
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|
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|
| 1433 |
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|
| 1434 |
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|
| 1435 |
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| 1436 |
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|
| 1437 |
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159408.778860000 87.40395376564047
|
| 1438 |
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159408.783850000 87.41306182041758
|
| 1439 |
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159408.788890000 87.40395376564047
|
| 1440 |
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|
| 1441 |
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|
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|
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|
| 1448 |
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|
| 1449 |
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159408.841122000 87.41306182041758
|
| 1450 |
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|
| 1451 |
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159408.849100000 87.41306182041758
|
| 1452 |
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|
| 1453 |
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|
| 1454 |
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159408.863840000 87.41306182041758
|
| 1455 |
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| 1456 |
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|
| 1457 |
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|
| 1459 |
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159408.888930000 87.41306182041758
|
| 1460 |
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|
| 1461 |
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159408.898850000 87.41306182041758
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159408.906174000 87.41306182041758
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| 1464 |
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159408.914664000 87.41306182041758
|
| 1465 |
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159408.918860000 87.41306182041758
|
| 1466 |
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159408.923880000 87.41306182041758
|
| 1467 |
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159408.928838000 87.41306182041758
|
| 1468 |
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|
| 1469 |
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159408.941291000 87.41306182041758
|
multi_sessions_20251119_184004/session_001/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
| 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: 734
|
| 19 |
+
均值融合 (都低速): 734
|
| 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 18:40:16
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_184004/session_001/Merged_Trajectory/merged_trajectory.csv
ADDED
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The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_001/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_001/RGB_Images/timestamps.csv
ADDED
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@@ -0,0 +1,442 @@
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| 1 |
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frame_index,timestamp
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multi_sessions_20251119_184004/session_001/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5a652e4aa62834c4c3e6e842c031e3909637acf25b8749b0b097b04854e8b35b
|
| 3 |
+
size 3563489
|
multi_sessions_20251119_184004/session_001/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_001/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
|
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|
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|
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|
|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 159401.599981s
|
| 6 |
+
Vive 第一帧时间戳: 1763548807.482458s
|
| 7 |
+
计算的 offset: -1763389405.882477s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.882477
|
| 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 18:40:16
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_184004/session_001/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_002/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1517 @@
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159427.853782,87.36751200791944
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159427.857882,87.36751200791944
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| 1454 |
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| 1455 |
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159427.893112,87.36751200791944
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| 1456 |
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159427.912889,87.36751200791944
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| 1460 |
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159427.920362,87.36751200791944
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| 1461 |
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| 1462 |
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| 1464 |
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| 1466 |
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| 1469 |
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159427.963083,87.36751200791944
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| 1470 |
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| 1471 |
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|
| 1472 |
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159427.977939,87.36751200791944
|
| 1473 |
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159427.982951,87.35839918441702
|
| 1474 |
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159427.989543,87.36751200791944
|
| 1475 |
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|
| 1476 |
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|
| 1477 |
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|
| 1478 |
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159428.007882,87.36751200791944
|
| 1479 |
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159428.012887,87.36751200791944
|
| 1480 |
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159428.020279,87.36751200791944
|
| 1481 |
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159428.023526,87.36751200791944
|
| 1482 |
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159428.027914,87.36751200791944
|
| 1483 |
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159428.032934,87.36751200791944
|
| 1484 |
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159428.038512,87.37662387790921
|
| 1485 |
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159428.042881,87.37662387790921
|
| 1486 |
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159428.04787,87.37662387790921
|
| 1487 |
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159428.053189,87.36751200791944
|
| 1488 |
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159428.057878,87.37662387790921
|
| 1489 |
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159428.063776,87.37662387790921
|
| 1490 |
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159428.067919,87.37662387790921
|
| 1491 |
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159428.072969,87.37662387790921
|
| 1492 |
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159428.077879,87.37662387790921
|
| 1493 |
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159428.085911,87.37662387790921
|
| 1494 |
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159428.089532,87.37662387790921
|
| 1495 |
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159428.092866,87.37662387790921
|
| 1496 |
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159428.098273,87.37662387790921
|
| 1497 |
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159428.102878,87.36751200791944
|
| 1498 |
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159428.107869,87.36751200791944
|
| 1499 |
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159428.112873,87.37662387790921
|
| 1500 |
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159428.120365,87.37662387790921
|
| 1501 |
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159428.123524,87.37662387790921
|
| 1502 |
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159428.128439,87.37662387790921
|
| 1503 |
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159428.132895,87.37662387790921
|
| 1504 |
+
159428.139003,87.37662387790921
|
| 1505 |
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159428.142874,87.37662387790921
|
| 1506 |
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159428.147877,87.37662387790921
|
| 1507 |
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159428.153305,87.37662387790921
|
| 1508 |
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159428.157892,87.37662387790921
|
| 1509 |
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159428.162905,87.37662387790921
|
| 1510 |
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159428.168266,87.37662387790921
|
| 1511 |
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159428.172934,87.37662387790921
|
| 1512 |
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159428.178014,87.3857347942701
|
| 1513 |
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159428.183018,87.3857347942701
|
| 1514 |
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159428.187869,87.3857347942701
|
| 1515 |
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159428.192872,87.37662387790921
|
| 1516 |
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159428.197878,87.37662387790921
|
| 1517 |
+
159428.203758,87.3857347942701
|
multi_sessions_20251119_184004/session_002/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1516 @@
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|
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|
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|
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|
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|
| 1478 |
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|
| 1479 |
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|
| 1480 |
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159428.023526000 87.36751200791944
|
| 1481 |
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159428.027914000 87.36751200791944
|
| 1482 |
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159428.032934000 87.36751200791944
|
| 1483 |
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|
| 1484 |
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159428.042881000 87.37662387790921
|
| 1485 |
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159428.047870000 87.37662387790921
|
| 1486 |
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159428.053189000 87.36751200791944
|
| 1487 |
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159428.057878000 87.37662387790921
|
| 1488 |
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159428.063776000 87.37662387790921
|
| 1489 |
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159428.067919000 87.37662387790921
|
| 1490 |
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159428.072969000 87.37662387790921
|
| 1491 |
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159428.077879000 87.37662387790921
|
| 1492 |
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159428.085911000 87.37662387790921
|
| 1493 |
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159428.089532000 87.37662387790921
|
| 1494 |
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159428.092866000 87.37662387790921
|
| 1495 |
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159428.098273000 87.37662387790921
|
| 1496 |
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159428.102878000 87.36751200791944
|
| 1497 |
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159428.107869000 87.36751200791944
|
| 1498 |
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159428.112873000 87.37662387790921
|
| 1499 |
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159428.120365000 87.37662387790921
|
| 1500 |
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159428.123524000 87.37662387790921
|
| 1501 |
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159428.128439000 87.37662387790921
|
| 1502 |
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159428.132895000 87.37662387790921
|
| 1503 |
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159428.139003000 87.37662387790921
|
| 1504 |
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159428.142874000 87.37662387790921
|
| 1505 |
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159428.147877000 87.37662387790921
|
| 1506 |
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159428.153305000 87.37662387790921
|
| 1507 |
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159428.157892000 87.37662387790921
|
| 1508 |
+
159428.162905000 87.37662387790921
|
| 1509 |
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159428.168266000 87.37662387790921
|
| 1510 |
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159428.172934000 87.37662387790921
|
| 1511 |
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159428.178014000 87.3857347942701
|
| 1512 |
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159428.183018000 87.3857347942701
|
| 1513 |
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159428.187869000 87.3857347942701
|
| 1514 |
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159428.192872000 87.37662387790921
|
| 1515 |
+
159428.197878000 87.37662387790921
|
| 1516 |
+
159428.203758000 87.3857347942701
|
multi_sessions_20251119_184004/session_002/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
| 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: 758
|
| 19 |
+
均值融合 (都低速): 758
|
| 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 18:40:35
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_184004/session_002/Merged_Trajectory/merged_trajectory.csv
ADDED
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The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_002/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_002/RGB_Images/timestamps.csv
ADDED
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@@ -0,0 +1,456 @@
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| 1 |
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frame_index,timestamp
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| 2 |
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|
multi_sessions_20251119_184004/session_002/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ace3bad82e3616fe46f4d0ac8ffb22af4ddbee37b6f59b9472770da5d4722630
|
| 3 |
+
size 3647774
|
multi_sessions_20251119_184004/session_002/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_002/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 159420.625977s
|
| 6 |
+
Vive 第一帧时间戳: 1763548826.512490s
|
| 7 |
+
计算的 offset: -1763389405.886513s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.886513
|
| 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 18:40:35
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_184004/session_002/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_003/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1269 @@
|
|
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159448.336874,87.22159248942225
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| 1235 |
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|
| 1236 |
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159448.367527,87.23071960166095
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| 1237 |
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159448.372931,87.22159248942225
|
| 1238 |
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159448.377196,87.22159248942225
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| 1239 |
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159448.382155,87.23071960166095
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| 1240 |
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159448.386859,87.23071960166095
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| 1241 |
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| 1242 |
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| 1243 |
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| 1244 |
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| 1245 |
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| 1246 |
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159448.417788,87.23071960166095
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| 1247 |
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| 1248 |
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159448.427375,87.23071960166095
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| 1249 |
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159448.432245,87.22159248942225
|
| 1250 |
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159448.436874,87.23071960166095
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| 1251 |
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159448.441864,87.23071960166095
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| 1255 |
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| 1256 |
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| 1257 |
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| 1259 |
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| 1260 |
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|
| 1261 |
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159448.491891,87.23071960166095
|
| 1262 |
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159448.499085,87.23071960166095
|
| 1263 |
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159448.502523,87.23071960166095
|
| 1264 |
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159448.506941,87.22159248942225
|
| 1265 |
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159448.51452,87.23071960166095
|
| 1266 |
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159448.517619,87.23071960166095
|
| 1267 |
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159448.521859,87.23071960166095
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| 1268 |
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159448.526912,87.23071960166095
|
| 1269 |
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159448.532149,87.23071960166095
|
multi_sessions_20251119_184004/session_003/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1268 @@
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| 1148 |
+
159447.932473000 87.23984576213162
|
| 1149 |
+
159447.936893000 87.23984576213162
|
| 1150 |
+
159447.941895000 87.23984576213162
|
| 1151 |
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159447.946978000 87.23984576213162
|
| 1152 |
+
159447.951886000 87.23984576213162
|
| 1153 |
+
159447.956891000 87.23984576213162
|
| 1154 |
+
159447.962219000 87.23984576213162
|
| 1155 |
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159447.966912000 87.23071960166095
|
| 1156 |
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159447.972020000 87.23071960166095
|
| 1157 |
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159447.977421000 87.23984576213162
|
| 1158 |
+
159447.981910000 87.23984576213162
|
| 1159 |
+
159447.986884000 87.23071960166095
|
| 1160 |
+
159447.991913000 87.23071960166095
|
| 1161 |
+
159447.999262000 87.23071960166095
|
| 1162 |
+
159448.002547000 87.23071960166095
|
| 1163 |
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159448.007396000 87.23071960166095
|
| 1164 |
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159448.014757000 87.22159248942225
|
| 1165 |
+
159448.018544000 87.23071960166095
|
| 1166 |
+
159448.021879000 87.23071960166095
|
| 1167 |
+
159448.027344000 87.23071960166095
|
| 1168 |
+
159448.032335000 87.23071960166095
|
| 1169 |
+
159448.036897000 87.23984576213162
|
| 1170 |
+
159448.041881000 87.23071960166095
|
| 1171 |
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159448.047148000 87.23071960166095
|
| 1172 |
+
159448.051884000 87.23071960166095
|
| 1173 |
+
159448.056892000 87.23071960166095
|
| 1174 |
+
159448.063411000 87.23071960166095
|
| 1175 |
+
159448.066985000 87.23071960166095
|
| 1176 |
+
159448.072208000 87.23984576213162
|
| 1177 |
+
159448.077113000 87.23984576213162
|
| 1178 |
+
159448.081995000 87.23071960166095
|
| 1179 |
+
159448.086901000 87.23071960166095
|
| 1180 |
+
159448.091879000 87.22159248942225
|
| 1181 |
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159448.099304000 87.23071960166095
|
| 1182 |
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159448.102548000 87.23071960166095
|
| 1183 |
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159448.107316000 87.23984576213162
|
| 1184 |
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159448.112648000 87.23071960166095
|
| 1185 |
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159448.117447000 87.23071960166095
|
| 1186 |
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159448.121912000 87.23071960166095
|
| 1187 |
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159448.127248000 87.23071960166095
|
| 1188 |
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159448.132516000 87.23071960166095
|
| 1189 |
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159448.136891000 87.23071960166095
|
| 1190 |
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159448.141872000 87.23071960166095
|
| 1191 |
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159448.147306000 87.23071960166095
|
| 1192 |
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159448.152593000 87.23071960166095
|
| 1193 |
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159448.156873000 87.23071960166095
|
| 1194 |
+
159448.162444000 87.23071960166095
|
| 1195 |
+
159448.166882000 87.23071960166095
|
| 1196 |
+
159448.172047000 87.23071960166095
|
| 1197 |
+
159448.177281000 87.23071960166095
|
| 1198 |
+
159448.181894000 87.23071960166095
|
| 1199 |
+
159448.186903000 87.23071960166095
|
| 1200 |
+
159448.191865000 87.23071960166095
|
| 1201 |
+
159448.197444000 87.23071960166095
|
| 1202 |
+
159448.201877000 87.23071960166095
|
| 1203 |
+
159448.206900000 87.23071960166095
|
| 1204 |
+
159448.211886000 87.23071960166095
|
| 1205 |
+
159448.217192000 87.23071960166095
|
| 1206 |
+
159448.221863000 87.23071960166095
|
| 1207 |
+
159448.226867000 87.23071960166095
|
| 1208 |
+
159448.232277000 87.23071960166095
|
| 1209 |
+
159448.236881000 87.23071960166095
|
| 1210 |
+
159448.241869000 87.22159248942225
|
| 1211 |
+
159448.247170000 87.23071960166095
|
| 1212 |
+
159448.251870000 87.23071960166095
|
| 1213 |
+
159448.256877000 87.23071960166095
|
| 1214 |
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159448.264031000 87.23071960166095
|
| 1215 |
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159448.267576000 87.23071960166095
|
| 1216 |
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159448.271871000 87.23071960166095
|
| 1217 |
+
159448.277464000 87.23071960166095
|
| 1218 |
+
159448.282027000 87.23071960166095
|
| 1219 |
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159448.286868000 87.22159248942225
|
| 1220 |
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159448.291862000 87.22159248942225
|
| 1221 |
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159448.299377000 87.22159248942225
|
| 1222 |
+
159448.302529000 87.22159248942225
|
| 1223 |
+
159448.307467000 87.22159248942225
|
| 1224 |
+
159448.311969000 87.22159248942225
|
| 1225 |
+
159448.316896000 87.22159248942225
|
| 1226 |
+
159448.321865000 87.22159248942225
|
| 1227 |
+
159448.326869000 87.22159248942225
|
| 1228 |
+
159448.332395000 87.22159248942225
|
| 1229 |
+
159448.336874000 87.22159248942225
|
| 1230 |
+
159448.341868000 87.22159248942225
|
| 1231 |
+
159448.347233000 87.23071960166095
|
| 1232 |
+
159448.352506000 87.23071960166095
|
| 1233 |
+
159448.356869000 87.23071960166095
|
| 1234 |
+
159448.364539000 87.23071960166095
|
| 1235 |
+
159448.367527000 87.23071960166095
|
| 1236 |
+
159448.372931000 87.22159248942225
|
| 1237 |
+
159448.377196000 87.22159248942225
|
| 1238 |
+
159448.382155000 87.23071960166095
|
| 1239 |
+
159448.386859000 87.23071960166095
|
| 1240 |
+
159448.391858000 87.23071960166095
|
| 1241 |
+
159448.399325000 87.23071960166095
|
| 1242 |
+
159448.402524000 87.23071960166095
|
| 1243 |
+
159448.407527000 87.23071960166095
|
| 1244 |
+
159448.411921000 87.23071960166095
|
| 1245 |
+
159448.417788000 87.23071960166095
|
| 1246 |
+
159448.421858000 87.23071960166095
|
| 1247 |
+
159448.427375000 87.23071960166095
|
| 1248 |
+
159448.432245000 87.22159248942225
|
| 1249 |
+
159448.436874000 87.23071960166095
|
| 1250 |
+
159448.441864000 87.23071960166095
|
| 1251 |
+
159448.446911000 87.23071960166095
|
| 1252 |
+
159448.451861000 87.23071960166095
|
| 1253 |
+
159448.456951000 87.23071960166095
|
| 1254 |
+
159448.463084000 87.23071960166095
|
| 1255 |
+
159448.466941000 87.23071960166095
|
| 1256 |
+
159448.472022000 87.23071960166095
|
| 1257 |
+
159448.477258000 87.23071960166095
|
| 1258 |
+
159448.482091000 87.23071960166095
|
| 1259 |
+
159448.486864000 87.23071960166095
|
| 1260 |
+
159448.491891000 87.23071960166095
|
| 1261 |
+
159448.499085000 87.23071960166095
|
| 1262 |
+
159448.502523000 87.23071960166095
|
| 1263 |
+
159448.506941000 87.22159248942225
|
| 1264 |
+
159448.514520000 87.23071960166095
|
| 1265 |
+
159448.517619000 87.23071960166095
|
| 1266 |
+
159448.521859000 87.23071960166095
|
| 1267 |
+
159448.526912000 87.23071960166095
|
| 1268 |
+
159448.532149000 87.23071960166095
|
multi_sessions_20251119_184004/session_003/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
| 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: 633
|
| 19 |
+
均值融合 (都低速): 633
|
| 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 18:40:55
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_184004/session_003/Merged_Trajectory/merged_trajectory.csv
ADDED
|
@@ -0,0 +1,634 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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| 1 |
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timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W
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multi_sessions_20251119_184004/session_003/Merged_Trajectory/merged_trajectory.txt
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_184004/session_003/RGB_Images/timestamps.csv
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155,159444.784636
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|
multi_sessions_20251119_184004/session_003/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cad9822ad5a3959c761b6f7598c0f322f2048e482ab0b65e55dc4034c533a1c8
|
| 3 |
+
size 3181420
|
multi_sessions_20251119_184004/session_003/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_003/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
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|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 159442.199979s
|
| 6 |
+
Vive 第一帧时间戳: 1763548848.082445s
|
| 7 |
+
计算的 offset: -1763389405.882466s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.882466
|
| 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 18:40:55
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_184004/session_003/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_004/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1511 @@
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| 1351 |
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159464.413541,87.46769010904983
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| 1352 |
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| 1353 |
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| 1354 |
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| 1355 |
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| 1356 |
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| 1357 |
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| 1358 |
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| 1359 |
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|
| 1360 |
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|
| 1361 |
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|
| 1362 |
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| 1363 |
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| 1364 |
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| 1365 |
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| 1366 |
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| 1367 |
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| 1368 |
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| 1369 |
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| 1370 |
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| 1371 |
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| 1372 |
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| 1373 |
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| 1374 |
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| 1375 |
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| 1376 |
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| 1377 |
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| 1378 |
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| 1379 |
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| 1380 |
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| 1381 |
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| 1382 |
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| 1383 |
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| 1384 |
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| 1385 |
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| 1386 |
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| 1387 |
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| 1388 |
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| 1389 |
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| 1390 |
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| 1391 |
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| 1392 |
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| 1393 |
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| 1394 |
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| 1395 |
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| 1396 |
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| 1397 |
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| 1398 |
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| 1399 |
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159464.651336,87.46769010904983
|
| 1400 |
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159464.656377,87.46769010904983
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| 1401 |
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159464.66116,87.476791482733
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| 1402 |
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159464.666068,87.476791482733
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| 1403 |
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| 1404 |
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| 1405 |
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| 1406 |
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| 1407 |
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| 1408 |
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| 1409 |
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| 1410 |
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| 1411 |
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| 1412 |
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| 1413 |
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|
| 1414 |
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|
| 1415 |
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|
| 1416 |
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|
| 1417 |
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| 1418 |
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| 1419 |
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|
| 1420 |
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|
| 1421 |
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| 1422 |
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|
| 1423 |
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| 1424 |
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|
| 1425 |
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| 1426 |
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| 1427 |
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| 1428 |
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| 1429 |
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|
| 1430 |
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| 1431 |
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|
| 1432 |
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|
| 1433 |
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|
| 1434 |
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| 1435 |
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| 1436 |
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| 1437 |
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|
| 1438 |
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|
| 1439 |
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|
| 1440 |
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|
| 1441 |
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|
| 1442 |
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159464.866056,87.45858778057632
|
| 1443 |
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|
| 1444 |
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159464.876278,87.45858778057632
|
| 1445 |
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|
| 1446 |
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|
| 1447 |
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| 1448 |
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|
| 1449 |
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|
| 1450 |
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|
| 1451 |
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159464.91209,87.45858778057632
|
| 1452 |
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|
| 1453 |
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159464.921052,87.45858778057632
|
| 1454 |
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|
| 1455 |
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|
| 1456 |
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|
| 1457 |
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|
| 1458 |
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| 1459 |
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|
| 1460 |
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|
| 1461 |
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|
| 1462 |
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|
| 1463 |
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|
| 1464 |
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|
| 1465 |
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|
| 1466 |
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|
| 1467 |
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|
| 1468 |
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159464.996146,87.45858778057632
|
| 1469 |
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159465.001133,87.45858778057632
|
| 1470 |
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159465.006063,87.45858778057632
|
| 1471 |
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159465.012689,87.45858778057632
|
| 1472 |
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159465.01606,87.46769010904983
|
| 1473 |
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159465.02105,87.45858778057632
|
| 1474 |
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159465.026268,87.45858778057632
|
| 1475 |
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159465.031046,87.45858778057632
|
| 1476 |
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159465.036044,87.45858778057632
|
| 1477 |
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159465.041085,87.45858778057632
|
| 1478 |
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159465.046273,87.45858778057632
|
| 1479 |
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159465.051057,87.45858778057632
|
| 1480 |
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159465.056045,87.44948449742859
|
| 1481 |
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159465.062168,87.45858778057632
|
| 1482 |
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159465.06612,87.45858778057632
|
| 1483 |
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159465.071044,87.44948449742859
|
| 1484 |
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159465.076276,87.44948449742859
|
| 1485 |
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159465.081182,87.44948449742859
|
| 1486 |
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159465.086086,87.45858778057632
|
| 1487 |
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159465.091079,87.44948449742859
|
| 1488 |
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159465.096124,87.45858778057632
|
| 1489 |
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159465.101041,87.45858778057632
|
| 1490 |
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159465.106045,87.45858778057632
|
| 1491 |
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159465.112725,87.45858778057632
|
| 1492 |
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159465.116047,87.45858778057632
|
| 1493 |
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159465.121474,87.45858778057632
|
| 1494 |
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159465.126439,87.45858778057632
|
| 1495 |
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159465.131047,87.45858778057632
|
| 1496 |
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159465.136055,87.45858778057632
|
| 1497 |
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159465.141648,87.45858778057632
|
| 1498 |
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159465.146092,87.45858778057632
|
| 1499 |
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159465.151036,87.45858778057632
|
| 1500 |
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159465.156067,87.45858778057632
|
| 1501 |
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159465.161757,87.45858778057632
|
| 1502 |
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159465.166061,87.45858778057632
|
| 1503 |
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159465.171062,87.45858778057632
|
| 1504 |
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159465.177193,87.45858778057632
|
| 1505 |
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159465.181651,87.45858778057632
|
| 1506 |
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159465.186038,87.45858778057632
|
| 1507 |
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159465.191135,87.45858778057632
|
| 1508 |
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159465.19616,87.45858778057632
|
| 1509 |
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159465.201042,87.45858778057632
|
| 1510 |
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159465.20604,87.45858778057632
|
| 1511 |
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159465.212624,87.45858778057632
|
multi_sessions_20251119_184004/session_004/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1510 @@
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159464.562004000 87.46769010904983
|
| 1381 |
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159464.566076000 87.46769010904983
|
| 1382 |
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159464.571069000 87.46769010904983
|
| 1383 |
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159464.576150000 87.46769010904983
|
| 1384 |
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159464.581412000 87.46769010904983
|
| 1385 |
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159464.586098000 87.46769010904983
|
| 1386 |
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159464.591091000 87.46769010904983
|
| 1387 |
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159464.596086000 87.46769010904983
|
| 1388 |
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159464.601087000 87.46769010904983
|
| 1389 |
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159464.606072000 87.46769010904983
|
| 1390 |
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|
| 1391 |
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|
| 1392 |
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|
| 1393 |
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|
| 1394 |
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159464.631066000 87.46769010904983
|
| 1395 |
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|
| 1396 |
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|
| 1397 |
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|
| 1398 |
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159464.651336000 87.46769010904983
|
| 1399 |
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159464.656377000 87.46769010904983
|
| 1400 |
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159464.661160000 87.476791482733
|
| 1401 |
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159464.666068000 87.476791482733
|
| 1402 |
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|
| 1403 |
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159464.676389000 87.46769010904983
|
| 1404 |
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159464.681120000 87.46769010904983
|
| 1405 |
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159464.686061000 87.46769010904983
|
| 1406 |
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|
| 1407 |
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159464.696291000 87.46769010904983
|
| 1408 |
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|
| 1409 |
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159464.706072000 87.46769010904983
|
| 1410 |
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|
| 1411 |
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159464.716355000 87.46769010904983
|
| 1412 |
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159464.721057000 87.45858778057632
|
| 1413 |
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159464.726213000 87.45858778057632
|
| 1414 |
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159464.731064000 87.46769010904983
|
| 1415 |
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159464.736071000 87.45858778057632
|
| 1416 |
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159464.741204000 87.46769010904983
|
| 1417 |
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159464.746189000 87.45858778057632
|
| 1418 |
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159464.751061000 87.45858778057632
|
| 1419 |
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159464.756070000 87.45858778057632
|
| 1420 |
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159464.762000000 87.45858778057632
|
| 1421 |
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|
| 1422 |
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|
| 1423 |
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159464.776161000 87.46769010904983
|
| 1424 |
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159464.781665000 87.46769010904983
|
| 1425 |
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|
| 1426 |
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|
| 1427 |
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|
| 1428 |
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|
| 1429 |
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|
| 1430 |
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159464.812642000 87.45858778057632
|
| 1431 |
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|
| 1432 |
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|
| 1433 |
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|
| 1434 |
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|
| 1435 |
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159464.836061000 87.45858778057632
|
| 1436 |
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|
| 1437 |
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159464.846147000 87.45858778057632
|
| 1438 |
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159464.851054000 87.45858778057632
|
| 1439 |
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159464.856064000 87.45858778057632
|
| 1440 |
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159464.862012000 87.45858778057632
|
| 1441 |
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159464.866056000 87.45858778057632
|
| 1442 |
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159464.871057000 87.46769010904983
|
| 1443 |
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159464.876278000 87.45858778057632
|
| 1444 |
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159464.881115000 87.46769010904983
|
| 1445 |
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159464.886057000 87.45858778057632
|
| 1446 |
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|
| 1447 |
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|
| 1448 |
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|
| 1449 |
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|
| 1450 |
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| 1451 |
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|
| 1452 |
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159464.921052000 87.45858778057632
|
| 1453 |
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|
| 1454 |
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|
| 1455 |
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|
| 1456 |
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|
| 1457 |
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|
| 1458 |
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|
| 1459 |
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|
| 1460 |
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159464.962004000 87.45858778057632
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| 1461 |
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|
| 1462 |
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|
| 1463 |
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|
| 1464 |
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|
| 1465 |
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|
| 1466 |
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|
| 1467 |
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|
| 1468 |
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159465.001133000 87.45858778057632
|
| 1469 |
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159465.006063000 87.45858778057632
|
| 1470 |
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159465.012689000 87.45858778057632
|
| 1471 |
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159465.016060000 87.46769010904983
|
| 1472 |
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159465.021050000 87.45858778057632
|
| 1473 |
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159465.026268000 87.45858778057632
|
| 1474 |
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159465.031046000 87.45858778057632
|
| 1475 |
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159465.036044000 87.45858778057632
|
| 1476 |
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159465.041085000 87.45858778057632
|
| 1477 |
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159465.046273000 87.45858778057632
|
| 1478 |
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159465.051057000 87.45858778057632
|
| 1479 |
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159465.056045000 87.44948449742859
|
| 1480 |
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159465.062168000 87.45858778057632
|
| 1481 |
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159465.066120000 87.45858778057632
|
| 1482 |
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159465.071044000 87.44948449742859
|
| 1483 |
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159465.076276000 87.44948449742859
|
| 1484 |
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|
| 1485 |
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159465.086086000 87.45858778057632
|
| 1486 |
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159465.091079000 87.44948449742859
|
| 1487 |
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|
| 1488 |
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159465.101041000 87.45858778057632
|
| 1489 |
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159465.106045000 87.45858778057632
|
| 1490 |
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159465.112725000 87.45858778057632
|
| 1491 |
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|
| 1492 |
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159465.121474000 87.45858778057632
|
| 1493 |
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159465.126439000 87.45858778057632
|
| 1494 |
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159465.131047000 87.45858778057632
|
| 1495 |
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159465.136055000 87.45858778057632
|
| 1496 |
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159465.141648000 87.45858778057632
|
| 1497 |
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159465.146092000 87.45858778057632
|
| 1498 |
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159465.151036000 87.45858778057632
|
| 1499 |
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159465.156067000 87.45858778057632
|
| 1500 |
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159465.161757000 87.45858778057632
|
| 1501 |
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159465.166061000 87.45858778057632
|
| 1502 |
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159465.171062000 87.45858778057632
|
| 1503 |
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159465.177193000 87.45858778057632
|
| 1504 |
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159465.181651000 87.45858778057632
|
| 1505 |
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|
| 1506 |
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159465.191135000 87.45858778057632
|
| 1507 |
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159465.196160000 87.45858778057632
|
| 1508 |
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159465.201042000 87.45858778057632
|
| 1509 |
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159465.206040000 87.45858778057632
|
| 1510 |
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159465.212624000 87.45858778057632
|
multi_sessions_20251119_184004/session_004/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
| 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: 754
|
| 19 |
+
均值融合 (都低速): 754
|
| 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 18:41:12
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_184004/session_004/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_004/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_004/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,454 @@
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
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|
|
|
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| 336 |
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334,159463.228534
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| 337 |
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335,159463.245546
|
| 338 |
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336,159463.261424
|
| 339 |
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337,159463.280165
|
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338,159463.296011
|
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339,159463.312082
|
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340,159463.328172
|
| 343 |
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341,159463.345846
|
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342,159463.361516
|
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343,159463.378415
|
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344,159463.395092
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345,159463.414017
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347,159463.445629
|
| 350 |
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348,159463.46137
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| 351 |
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349,159463.478218
|
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350,159463.496022
|
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351,159463.512334
|
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352,159463.529163
|
| 355 |
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353,159463.544726
|
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354,159463.561252
|
| 357 |
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355,159463.578427
|
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356,159463.59507
|
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|
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|
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|
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|
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|
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|
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|
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|
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367,159463.778289
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|
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|
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|
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|
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|
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|
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|
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|
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|
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405,159464.413805
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|
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|
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|
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|
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|
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|
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|
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413,159464.547411
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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431,159464.84747
|
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|
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|
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434,159464.894425
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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| 453 |
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451,159465.180226
|
| 454 |
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452,159465.194548
|
multi_sessions_20251119_184004/session_004/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d7bf5e897636a0b37bc3a9a41aba76538f28d99052c5811042eec0efa79440f5
|
| 3 |
+
size 3548436
|
multi_sessions_20251119_184004/session_004/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_004/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
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|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 159457.667982s
|
| 6 |
+
Vive 第一帧时间戳: 1763548863.552545s
|
| 7 |
+
计算的 offset: -1763389405.884563s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.884563
|
| 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 18:41:12
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_184004/session_004/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_005/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1514 @@
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159482.49134,87.476791482733
|
| 1411 |
+
159482.49521,87.476791482733
|
| 1412 |
+
159482.500204,87.476791482733
|
| 1413 |
+
159482.505301,87.476791482733
|
| 1414 |
+
159482.510722,87.48589190150977
|
| 1415 |
+
159482.515209,87.476791482733
|
| 1416 |
+
159482.520765,87.476791482733
|
| 1417 |
+
159482.525592,87.476791482733
|
| 1418 |
+
159482.530674,87.476791482733
|
| 1419 |
+
159482.535674,87.476791482733
|
| 1420 |
+
159482.5402,87.48589190150977
|
| 1421 |
+
159482.545748,87.48589190150977
|
| 1422 |
+
159482.550576,87.48589190150977
|
| 1423 |
+
159482.555706,87.48589190150977
|
| 1424 |
+
159482.560202,87.476791482733
|
| 1425 |
+
159482.5652,87.476791482733
|
| 1426 |
+
159482.570195,87.476791482733
|
| 1427 |
+
159482.575425,87.476791482733
|
| 1428 |
+
159482.580197,87.48589190150977
|
| 1429 |
+
159482.58578,87.48589190150977
|
| 1430 |
+
159482.590503,87.48589190150977
|
| 1431 |
+
159482.595215,87.48589190150977
|
| 1432 |
+
159482.600196,87.48589190150977
|
| 1433 |
+
159482.60553,87.48589190150977
|
| 1434 |
+
159482.610256,87.48589190150977
|
| 1435 |
+
159482.615244,87.48589190150977
|
| 1436 |
+
159482.620225,87.48589190150977
|
| 1437 |
+
159482.625208,87.48589190150977
|
| 1438 |
+
159482.63021,87.48589190150977
|
| 1439 |
+
159482.635642,87.48589190150977
|
| 1440 |
+
159482.640434,87.48589190150977
|
| 1441 |
+
159482.645198,87.48589190150977
|
| 1442 |
+
159482.650192,87.48589190150977
|
| 1443 |
+
159482.656528,87.48589190150977
|
| 1444 |
+
159482.660199,87.48589190150977
|
| 1445 |
+
159482.6652,87.476791482733
|
| 1446 |
+
159482.6702,87.476791482733
|
| 1447 |
+
159482.676539,87.476791482733
|
| 1448 |
+
159482.680202,87.476791482733
|
| 1449 |
+
159482.68524,87.476791482733
|
| 1450 |
+
159482.690907,87.476791482733
|
| 1451 |
+
159482.695268,87.476791482733
|
| 1452 |
+
159482.70097,87.476791482733
|
| 1453 |
+
159482.705502,87.476791482733
|
| 1454 |
+
159482.710229,87.476791482733
|
| 1455 |
+
159482.715299,87.476791482733
|
| 1456 |
+
159482.720192,87.476791482733
|
| 1457 |
+
159482.725257,87.476791482733
|
| 1458 |
+
159482.7302,87.476791482733
|
| 1459 |
+
159482.735656,87.476791482733
|
| 1460 |
+
159482.740217,87.476791482733
|
| 1461 |
+
159482.745189,87.476791482733
|
| 1462 |
+
159482.750184,87.476791482733
|
| 1463 |
+
159482.758428,87.476791482733
|
| 1464 |
+
159482.76192,87.48589190150977
|
| 1465 |
+
159482.765543,87.48589190150977
|
| 1466 |
+
159482.770536,87.48589190150977
|
| 1467 |
+
159482.777672,87.476791482733
|
| 1468 |
+
159482.780828,87.476791482733
|
| 1469 |
+
159482.785539,87.476791482733
|
| 1470 |
+
159482.790799,87.476791482733
|
| 1471 |
+
159482.795245,87.476791482733
|
| 1472 |
+
159482.800731,87.476791482733
|
| 1473 |
+
159482.806167,87.476791482733
|
| 1474 |
+
159482.810629,87.48589190150977
|
| 1475 |
+
159482.815339,87.48589190150977
|
| 1476 |
+
159482.820997,87.48589190150977
|
| 1477 |
+
159482.825734,87.48589190150977
|
| 1478 |
+
159482.8302,87.48589190150977
|
| 1479 |
+
159482.835197,87.48589190150977
|
| 1480 |
+
159482.840626,87.48589190150977
|
| 1481 |
+
159482.845642,87.48589190150977
|
| 1482 |
+
159482.850184,87.48589190150977
|
| 1483 |
+
159482.858405,87.49499136526408
|
| 1484 |
+
159482.861842,87.49499136526408
|
| 1485 |
+
159482.865475,87.49499136526408
|
| 1486 |
+
159482.870614,87.49499136526408
|
| 1487 |
+
159482.87547,87.48589190150977
|
| 1488 |
+
159482.880185,87.48589190150977
|
| 1489 |
+
159482.885186,87.48589190150977
|
| 1490 |
+
159482.890226,87.49499136526408
|
| 1491 |
+
159482.895196,87.49499136526408
|
| 1492 |
+
159482.900661,87.49499136526408
|
| 1493 |
+
159482.90525,87.49499136526408
|
| 1494 |
+
159482.910188,87.49499136526408
|
| 1495 |
+
159482.915222,87.49499136526408
|
| 1496 |
+
159482.921089,87.49499136526408
|
| 1497 |
+
159482.925207,87.49499136526408
|
| 1498 |
+
159482.930194,87.49499136526408
|
| 1499 |
+
159482.935187,87.49499136526408
|
| 1500 |
+
159482.942583,87.49499136526408
|
| 1501 |
+
159482.945815,87.49499136526408
|
| 1502 |
+
159482.950169,87.49499136526408
|
| 1503 |
+
159482.958286,87.49499136526408
|
| 1504 |
+
159482.961875,87.49499136526408
|
| 1505 |
+
159482.965524,87.49499136526408
|
| 1506 |
+
159482.970435,87.49499136526408
|
| 1507 |
+
159482.976699,87.49499136526408
|
| 1508 |
+
159482.980169,87.50408987387988
|
| 1509 |
+
159482.985191,87.50408987387988
|
| 1510 |
+
159482.991197,87.50408987387988
|
| 1511 |
+
159482.995241,87.50408987387988
|
| 1512 |
+
159483.000384,87.50408987387988
|
| 1513 |
+
159483.005228,87.50408987387988
|
| 1514 |
+
159483.010503,87.49499136526408
|
multi_sessions_20251119_184004/session_005/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1513 @@
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159482.565200000 87.476791482733
|
| 1425 |
+
159482.570195000 87.476791482733
|
| 1426 |
+
159482.575425000 87.476791482733
|
| 1427 |
+
159482.580197000 87.48589190150977
|
| 1428 |
+
159482.585780000 87.48589190150977
|
| 1429 |
+
159482.590503000 87.48589190150977
|
| 1430 |
+
159482.595215000 87.48589190150977
|
| 1431 |
+
159482.600196000 87.48589190150977
|
| 1432 |
+
159482.605530000 87.48589190150977
|
| 1433 |
+
159482.610256000 87.48589190150977
|
| 1434 |
+
159482.615244000 87.48589190150977
|
| 1435 |
+
159482.620225000 87.48589190150977
|
| 1436 |
+
159482.625208000 87.48589190150977
|
| 1437 |
+
159482.630210000 87.48589190150977
|
| 1438 |
+
159482.635642000 87.48589190150977
|
| 1439 |
+
159482.640434000 87.48589190150977
|
| 1440 |
+
159482.645198000 87.48589190150977
|
| 1441 |
+
159482.650192000 87.48589190150977
|
| 1442 |
+
159482.656528000 87.48589190150977
|
| 1443 |
+
159482.660199000 87.48589190150977
|
| 1444 |
+
159482.665200000 87.476791482733
|
| 1445 |
+
159482.670200000 87.476791482733
|
| 1446 |
+
159482.676539000 87.476791482733
|
| 1447 |
+
159482.680202000 87.476791482733
|
| 1448 |
+
159482.685240000 87.476791482733
|
| 1449 |
+
159482.690907000 87.476791482733
|
| 1450 |
+
159482.695268000 87.476791482733
|
| 1451 |
+
159482.700970000 87.476791482733
|
| 1452 |
+
159482.705502000 87.476791482733
|
| 1453 |
+
159482.710229000 87.476791482733
|
| 1454 |
+
159482.715299000 87.476791482733
|
| 1455 |
+
159482.720192000 87.476791482733
|
| 1456 |
+
159482.725257000 87.476791482733
|
| 1457 |
+
159482.730200000 87.476791482733
|
| 1458 |
+
159482.735656000 87.476791482733
|
| 1459 |
+
159482.740217000 87.476791482733
|
| 1460 |
+
159482.745189000 87.476791482733
|
| 1461 |
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159482.750184000 87.476791482733
|
| 1462 |
+
159482.758428000 87.476791482733
|
| 1463 |
+
159482.761920000 87.48589190150977
|
| 1464 |
+
159482.765543000 87.48589190150977
|
| 1465 |
+
159482.770536000 87.48589190150977
|
| 1466 |
+
159482.777672000 87.476791482733
|
| 1467 |
+
159482.780828000 87.476791482733
|
| 1468 |
+
159482.785539000 87.476791482733
|
| 1469 |
+
159482.790799000 87.476791482733
|
| 1470 |
+
159482.795245000 87.476791482733
|
| 1471 |
+
159482.800731000 87.476791482733
|
| 1472 |
+
159482.806167000 87.476791482733
|
| 1473 |
+
159482.810629000 87.48589190150977
|
| 1474 |
+
159482.815339000 87.48589190150977
|
| 1475 |
+
159482.820997000 87.48589190150977
|
| 1476 |
+
159482.825734000 87.48589190150977
|
| 1477 |
+
159482.830200000 87.48589190150977
|
| 1478 |
+
159482.835197000 87.48589190150977
|
| 1479 |
+
159482.840626000 87.48589190150977
|
| 1480 |
+
159482.845642000 87.48589190150977
|
| 1481 |
+
159482.850184000 87.48589190150977
|
| 1482 |
+
159482.858405000 87.49499136526408
|
| 1483 |
+
159482.861842000 87.49499136526408
|
| 1484 |
+
159482.865475000 87.49499136526408
|
| 1485 |
+
159482.870614000 87.49499136526408
|
| 1486 |
+
159482.875470000 87.48589190150977
|
| 1487 |
+
159482.880185000 87.48589190150977
|
| 1488 |
+
159482.885186000 87.48589190150977
|
| 1489 |
+
159482.890226000 87.49499136526408
|
| 1490 |
+
159482.895196000 87.49499136526408
|
| 1491 |
+
159482.900661000 87.49499136526408
|
| 1492 |
+
159482.905250000 87.49499136526408
|
| 1493 |
+
159482.910188000 87.49499136526408
|
| 1494 |
+
159482.915222000 87.49499136526408
|
| 1495 |
+
159482.921089000 87.49499136526408
|
| 1496 |
+
159482.925207000 87.49499136526408
|
| 1497 |
+
159482.930194000 87.49499136526408
|
| 1498 |
+
159482.935187000 87.49499136526408
|
| 1499 |
+
159482.942583000 87.49499136526408
|
| 1500 |
+
159482.945815000 87.49499136526408
|
| 1501 |
+
159482.950169000 87.49499136526408
|
| 1502 |
+
159482.958286000 87.49499136526408
|
| 1503 |
+
159482.961875000 87.49499136526408
|
| 1504 |
+
159482.965524000 87.49499136526408
|
| 1505 |
+
159482.970435000 87.49499136526408
|
| 1506 |
+
159482.976699000 87.49499136526408
|
| 1507 |
+
159482.980169000 87.50408987387988
|
| 1508 |
+
159482.985191000 87.50408987387988
|
| 1509 |
+
159482.991197000 87.50408987387988
|
| 1510 |
+
159482.995241000 87.50408987387988
|
| 1511 |
+
159483.000384000 87.50408987387988
|
| 1512 |
+
159483.005228000 87.50408987387988
|
| 1513 |
+
159483.010503000 87.49499136526408
|
multi_sessions_20251119_184004/session_005/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
| 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: 756
|
| 19 |
+
均值融合 (都低速): 756
|
| 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 18:41:30
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_184004/session_005/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_005/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_005/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,455 @@
|
|
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|
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|
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|
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|
| 1 |
+
frame_index,timestamp
|
| 2 |
+
0,159475.444287
|
| 3 |
+
1,159475.459043
|
| 4 |
+
2,159475.47725
|
| 5 |
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394,159482.009274
|
| 397 |
+
395,159482.023932
|
| 398 |
+
396,159482.045024
|
| 399 |
+
397,159482.058401
|
| 400 |
+
398,159482.076292
|
| 401 |
+
399,159482.090893
|
| 402 |
+
400,159482.109307
|
| 403 |
+
401,159482.125113
|
| 404 |
+
402,159482.143954
|
| 405 |
+
403,159482.157811
|
| 406 |
+
404,159482.177416
|
| 407 |
+
405,159482.19082
|
| 408 |
+
406,159482.209353
|
| 409 |
+
407,159482.224603
|
| 410 |
+
408,159482.244504
|
| 411 |
+
409,159482.258346
|
| 412 |
+
410,159482.275259
|
| 413 |
+
411,159482.290965
|
| 414 |
+
412,159482.308804
|
| 415 |
+
413,159482.325098
|
| 416 |
+
414,159482.344016
|
| 417 |
+
415,159482.357917
|
| 418 |
+
416,159482.377582
|
| 419 |
+
417,159482.391359
|
| 420 |
+
418,159482.40936
|
| 421 |
+
419,159482.424693
|
| 422 |
+
420,159482.443931
|
| 423 |
+
421,159482.458484
|
| 424 |
+
422,159482.476406
|
| 425 |
+
423,159482.490706
|
| 426 |
+
424,159482.508799
|
| 427 |
+
425,159482.524982
|
| 428 |
+
426,159482.544101
|
| 429 |
+
427,159482.558275
|
| 430 |
+
428,159482.576222
|
| 431 |
+
429,159482.590534
|
| 432 |
+
430,159482.609078
|
| 433 |
+
431,159482.62464
|
| 434 |
+
432,159482.642341
|
| 435 |
+
433,159482.658371
|
| 436 |
+
434,159482.675162
|
| 437 |
+
435,159482.690978
|
| 438 |
+
436,159482.708509
|
| 439 |
+
437,159482.724708
|
| 440 |
+
438,159482.742429
|
| 441 |
+
439,159482.757841
|
| 442 |
+
440,159482.777034
|
| 443 |
+
441,159482.790884
|
| 444 |
+
442,159482.808833
|
| 445 |
+
443,159482.82508
|
| 446 |
+
444,159482.844329
|
| 447 |
+
445,159482.857654
|
| 448 |
+
446,159482.878414
|
| 449 |
+
447,159482.89093
|
| 450 |
+
448,159482.909088
|
| 451 |
+
449,159482.925583
|
| 452 |
+
450,159482.943097
|
| 453 |
+
451,159482.957703
|
| 454 |
+
452,159482.977369
|
| 455 |
+
453,159482.990563
|
multi_sessions_20251119_184004/session_005/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b322a896b2a2aebabc333b99346c9d15d02687392e66042bb0aa4cdffb3fe57c
|
| 3 |
+
size 3706095
|
multi_sessions_20251119_184004/session_005/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_184004/session_005/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 159475.447983s
|
| 6 |
+
Vive 第一帧时间戳: 1763548881.332480s
|
| 7 |
+
计算的 offset: -1763389405.884497s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.884497
|
| 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 18:41:30
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|