Delete multi_sessions_20251119_193110
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- multi_sessions_20251119_193110/collection_summary.txt +0 -153
- multi_sessions_20251119_193110/session_001/Clamp_Data/clamp.csv +0 -1491
- multi_sessions_20251119_193110/session_001/Clamp_Data/clamp_data_tum.txt +0 -1490
- multi_sessions_20251119_193110/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_193110/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_193110/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_193110/session_001/RGB_Images/timestamps.csv +0 -448
- multi_sessions_20251119_193110/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_193110/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_193110/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_193110/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_193110/session_002/Clamp_Data/clamp.csv +0 -1677
- multi_sessions_20251119_193110/session_002/Clamp_Data/clamp_data_tum.txt +0 -1676
- multi_sessions_20251119_193110/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_193110/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_193110/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_193110/session_002/RGB_Images/timestamps.csv +0 -503
- multi_sessions_20251119_193110/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_193110/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_193110/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_193110/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_193110/session_003/Clamp_Data/clamp.csv +0 -1495
- multi_sessions_20251119_193110/session_003/Clamp_Data/clamp_data_tum.txt +0 -1494
- multi_sessions_20251119_193110/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_193110/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_193110/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_193110/session_003/RGB_Images/timestamps.csv +0 -449
- multi_sessions_20251119_193110/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_193110/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_193110/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_193110/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_193110/session_004/Clamp_Data/clamp.csv +0 -1423
- multi_sessions_20251119_193110/session_004/Clamp_Data/clamp_data_tum.txt +0 -1422
- multi_sessions_20251119_193110/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_193110/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_193110/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_193110/session_004/RGB_Images/timestamps.csv +0 -428
- multi_sessions_20251119_193110/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_193110/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_193110/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_193110/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_193110/session_005/Clamp_Data/clamp.csv +0 -1608
- multi_sessions_20251119_193110/session_005/Clamp_Data/clamp_data_tum.txt +0 -1607
- multi_sessions_20251119_193110/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- multi_sessions_20251119_193110/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_193110/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_193110/session_005/RGB_Images/timestamps.csv +0 -483
- multi_sessions_20251119_193110/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_193110/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_193110/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_193110/collection_summary.txt
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========================================
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多会话XVisio数据采集摘要（Buffered版本）
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========================================
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开始时间: 2025年 11月 19日 星期三 19:31:12 CST
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设备模式: 单设备
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设备数量: 1
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计划会话数: 10
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会话间隔: 1秒
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摘要目录: ./multi_sessions_20251119_193110
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ToF模式: off
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Python脚本: ./single_session_data_collector_buffered.py
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配置文件: ../start_process/config.json
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========================================
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设备信息:
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XV序列号: 250801DR48FP25002087
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Vive序列号: LHR_B728E669
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设备标签: main
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==========================================
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会话 1 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:31:12 CST
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输出目录: ./multi_sessions_20251119_193110/session_001
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结束时间: 2025年 11月 19日 星期三 19:31:26 CST
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持续时间: 14秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_193110/session_001
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==========================================
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会话 2 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:31:28 CST
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输出目录: ./multi_sessions_20251119_193110/session_002
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结束时间: 2025年 11月 19日 星期三 19:31:43 CST
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持续时间: 15秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_193110/session_002
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==========================================
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会话 3 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:31:45 CST
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输出目录: ./multi_sessions_20251119_193110/session_003
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结束时间: 2025年 11月 19日 星期三 19:31:58 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_193110/session_003
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==========================================
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会话 4 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:32:00 CST
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输出目录: ./multi_sessions_20251119_193110/session_004
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结束时间: 2025年 11月 19日 星期三 19:32:13 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_193110/session_004
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==========================================
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会话 5 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:32:14 CST
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输出目录: ./multi_sessions_20251119_193110/session_005
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结束时间: 2025年 11月 19日 星期三 19:32:29 CST
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持续时间: 15秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_193110/session_005
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==========================================
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会话 6 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:32:31 CST
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输出目录: ./multi_sessions_20251119_193110/session_006
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结束时间: 2025年 11月 19日 星期三 19:32:46 CST
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持续时间: 15秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_193110/session_006
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==========================================
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会话 7 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:32:48 CST
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输出目录: ./multi_sessions_20251119_193110/session_007
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结束时间: 2025年 11月 19日 星期三 19:33:01 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_193110/session_007
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==========================================
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会话 8 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:33:03 CST
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输出目录: ./multi_sessions_20251119_193110/session_008
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结束时间: 2025年 11月 19日 星期三 19:33:16 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_193110/session_008
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==========================================
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会话 9 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:33:17 CST
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输出目录: ./multi_sessions_20251119_193110/session_009
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结束时间: 2025年 11月 19日 星期三 19:33:30 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_193110/session_009
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==========================================
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会话 10 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 19:33:32 CST
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输出目录: ./multi_sessions_20251119_193110/session_010
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结束时间: 2025年 11月 19日 星期三 19:33:46 CST
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持续时间: 14秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_193110/session_010
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==========================================
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采集完成总结:
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==========================================
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完成时间: 2025年 11月 19日 星期三 19:33:46 CST
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成功会话数: 10
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失败会话数: 0
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总计划会话数: 10
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实际完成会话数: 10
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成功率: 100%
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数据目录结构:
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./multi_sessions_20251119_193110/
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├─ session_001/
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├─ session_002/
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├─ session_003/
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├─ session_004/
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├─ session_005/
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├─ session_006/
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├─ session_007/
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├─ session_008/
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├─ session_009/
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├─ session_010/
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└─ collection_summary.txt
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multi_sessions_20251119_193110/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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162468.941038,87.54956808582004
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162468.995945,87.54956808582004
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162469.001251,87.54956808582004
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162469.040728,87.54956808582004
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162469.085635,87.55866086116826
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162476.178488,87.37662387790921
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| 1451 |
-
162476.183485,87.37662387790921
|
| 1452 |
-
162476.188616,87.37662387790921
|
| 1453 |
-
162476.193911,87.37662387790921
|
| 1454 |
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162476.19904,87.37662387790921
|
| 1455 |
-
162476.203608,87.37662387790921
|
| 1456 |
-
162476.208541,87.37662387790921
|
| 1457 |
-
162476.214138,87.37662387790921
|
| 1458 |
-
162476.21867,87.36751200791944
|
| 1459 |
-
162476.224101,87.37662387790921
|
| 1460 |
-
162476.228492,87.36751200791944
|
| 1461 |
-
162476.236069,87.37662387790921
|
| 1462 |
-
162476.239323,87.37662387790921
|
| 1463 |
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162476.243537,87.37662387790921
|
| 1464 |
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162476.248487,87.37662387790921
|
| 1465 |
-
162476.256852,87.37662387790921
|
| 1466 |
-
162476.260394,87.3857347942701
|
| 1467 |
-
162476.263431,87.37662387790921
|
| 1468 |
-
162476.268456,87.37662387790921
|
| 1469 |
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162476.274694,87.37662387790921
|
| 1470 |
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162476.278421,87.37662387790921
|
| 1471 |
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162476.283424,87.37662387790921
|
| 1472 |
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162476.288436,87.37662387790921
|
| 1473 |
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162476.294601,87.3857347942701
|
| 1474 |
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162476.298447,87.3857347942701
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| 1475 |
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162476.303567,87.3857347942701
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| 1476 |
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162476.308538,87.3857347942701
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| 1477 |
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162476.313468,87.3857347942701
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| 1478 |
-
162476.318442,87.3857347942701
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| 1479 |
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162476.323431,87.37662387790921
|
| 1480 |
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162476.328483,87.37662387790921
|
| 1481 |
-
162476.333841,87.36751200791944
|
| 1482 |
-
162476.338584,87.37662387790921
|
| 1483 |
-
162476.343424,87.37662387790921
|
| 1484 |
-
162476.348424,87.37662387790921
|
| 1485 |
-
162476.356294,87.37662387790921
|
| 1486 |
-
162476.359264,87.37662387790921
|
| 1487 |
-
162476.363436,87.37662387790921
|
| 1488 |
-
162476.36844,87.37662387790921
|
| 1489 |
-
162476.374272,87.37662387790921
|
| 1490 |
-
162476.378429,87.37662387790921
|
| 1491 |
-
162476.383424,87.37662387790921
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|
multi_sessions_20251119_193110/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1490 +0,0 @@
|
|
| 1 |
-
162468.941038000 87.54956808582004
|
| 2 |
-
162468.945581000 87.54956808582004
|
| 3 |
-
162468.950611000 87.54956808582004
|
| 4 |
-
162468.955718000 87.54956808582004
|
| 5 |
-
162468.960936000 87.54956808582004
|
| 6 |
-
162468.965621000 87.54956808582004
|
| 7 |
-
162468.970581000 87.54956808582004
|
| 8 |
-
162468.976237000 87.55866086116826
|
| 9 |
-
162468.980581000 87.54956808582004
|
| 10 |
-
162468.985618000 87.54956808582004
|
| 11 |
-
162468.990623000 87.54956808582004
|
| 12 |
-
162468.995945000 87.54956808582004
|
| 13 |
-
162469.001251000 87.54956808582004
|
| 14 |
-
162469.005673000 87.55866086116826
|
| 15 |
-
162469.010954000 87.54956808582004
|
| 16 |
-
162469.016369000 87.54956808582004
|
| 17 |
-
162469.020637000 87.54956808582004
|
| 18 |
-
162469.025770000 87.54956808582004
|
| 19 |
-
162469.030722000 87.54956808582004
|
| 20 |
-
162469.036226000 87.54956808582004
|
| 21 |
-
162469.040728000 87.54956808582004
|
| 22 |
-
162469.045664000 87.54956808582004
|
| 23 |
-
162469.050639000 87.54956808582004
|
| 24 |
-
162469.055642000 87.54956808582004
|
| 25 |
-
162469.061430000 87.54956808582004
|
| 26 |
-
162469.066154000 87.54956808582004
|
| 27 |
-
162469.070736000 87.54956808582004
|
| 28 |
-
162469.076545000 87.54956808582004
|
| 29 |
-
162469.080671000 87.54956808582004
|
| 30 |
-
162469.085635000 87.55866086116826
|
| 31 |
-
162469.090705000 87.54956808582004
|
| 32 |
-
162469.095809000 87.55866086116826
|
| 33 |
-
162469.100660000 87.54956808582004
|
| 34 |
-
162469.105705000 87.54956808582004
|
| 35 |
-
162469.110842000 87.54047435463723
|
| 36 |
-
162469.116647000 87.54956808582004
|
| 37 |
-
162469.120575000 87.54956808582004
|
| 38 |
-
162469.126095000 87.54956808582004
|
| 39 |
-
162469.130658000 87.54956808582004
|
| 40 |
-
162469.135641000 87.54956808582004
|
| 41 |
-
162469.140895000 87.54956808582004
|
| 42 |
-
162469.145574000 87.54956808582004
|
| 43 |
-
162469.150632000 87.54956808582004
|
| 44 |
-
162469.155616000 87.55866086116826
|
| 45 |
-
162469.161012000 87.55866086116826
|
| 46 |
-
162469.165635000 87.55866086116826
|
| 47 |
-
162469.170653000 87.54956808582004
|
| 48 |
-
162469.176526000 87.54956808582004
|
| 49 |
-
162469.180574000 87.54956808582004
|
| 50 |
-
162469.185573000 87.54956808582004
|
| 51 |
-
162469.190644000 87.54956808582004
|
| 52 |
-
162469.195882000 87.54956808582004
|
| 53 |
-
162469.200609000 87.54956808582004
|
| 54 |
-
162469.206628000 87.54956808582004
|
| 55 |
-
162469.210578000 87.54956808582004
|
| 56 |
-
162469.216767000 87.54956808582004
|
| 57 |
-
162469.220635000 87.54956808582004
|
| 58 |
-
162469.225633000 87.54956808582004
|
| 59 |
-
162469.230973000 87.54956808582004
|
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| 1470 |
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| 1471 |
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| 1472 |
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| 1473 |
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| 1474 |
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| 1475 |
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| 1476 |
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| 1477 |
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| 1478 |
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| 1479 |
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| 1480 |
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| 1481 |
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| 1482 |
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| 1483 |
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| 1484 |
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| 1485 |
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| 1487 |
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| 1488 |
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| 1489 |
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| 1490 |
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|
multi_sessions_20251119_193110/session_001/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 744
|
| 19 |
-
均值融合 (都低速): 744
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 19:31:23
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
|
|
|
|
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|
multi_sessions_20251119_193110/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,448 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,162468.929356
|
| 3 |
-
1,162468.941274
|
| 4 |
-
2,162468.961431
|
| 5 |
-
3,162468.975171
|
| 6 |
-
4,162468.995458
|
| 7 |
-
5,162469.009583
|
| 8 |
-
6,162469.028449
|
| 9 |
-
7,162469.043275
|
| 10 |
-
8,162469.06305
|
| 11 |
-
9,162469.074727
|
| 12 |
-
10,162469.09524
|
| 13 |
-
11,162469.108445
|
| 14 |
-
12,162469.129337
|
| 15 |
-
13,162469.141192
|
| 16 |
-
14,162469.161502
|
| 17 |
-
15,162469.175228
|
| 18 |
-
16,162469.195096
|
| 19 |
-
17,162469.208102
|
| 20 |
-
18,162469.229474
|
| 21 |
-
19,162469.243214
|
| 22 |
-
20,162469.261484
|
| 23 |
-
21,162469.274718
|
| 24 |
-
22,162469.29536
|
| 25 |
-
23,162469.30886
|
| 26 |
-
24,162469.326932
|
| 27 |
-
25,162469.341598
|
| 28 |
-
26,162469.36156
|
| 29 |
-
27,162469.37483
|
| 30 |
-
28,162469.394935
|
| 31 |
-
29,162469.408039
|
| 32 |
-
30,162469.428131
|
| 33 |
-
31,162469.443009
|
| 34 |
-
32,162469.46148
|
| 35 |
-
33,162469.474739
|
| 36 |
-
34,162469.495038
|
| 37 |
-
35,162469.509327
|
| 38 |
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416,162475.858427
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417,162475.871891
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424,162475.991394
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425,162476.005028
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426,162476.023727
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427,162476.039372
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428,162476.057845
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429,162476.071463
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431,162476.104737
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432,162476.126588
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433,162476.140296
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434,162476.159755
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435,162476.171571
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436,162476.191218
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437,162476.205078
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438,162476.223493
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439,162476.239356
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440,162476.259515
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441,162476.272563
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442,162476.292407
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443,162476.307003
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444,162476.326502
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445,162476.340322
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446,162476.357695
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multi_sessions_20251119_193110/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:dc31497bd2173a2937d2da493724ded60ac495569620858a9a448015562e22ba
|
| 3 |
-
size 3422757
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multi_sessions_20251119_193110/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_001/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 162468.941469s
|
| 6 |
-
Vive 第一帧时间戳: 1763551874.821923s
|
| 7 |
-
计算的 offset: -1763389405.880454s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.880454
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 19:31:23
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
|
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|
multi_sessions_20251119_193110/session_001/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_002/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1677 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
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162484.086123,87.56775268056596
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|
multi_sessions_20251119_193110/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1676 +0,0 @@
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| 1 |
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162484.086123000 87.56775268056596
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162484.096122000 87.56775268056596
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162484.102131000 87.56775268056596
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162484.111188000 87.56775268056596
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162491.754080000 87.23071960166095
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162491.759127000 87.23071960166095
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162491.769120000 87.23071960166095
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162491.779241000 87.23071960166095
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162491.784291000 87.23071960166095
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162491.789999000 87.23071960166095
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162491.794152000 87.23071960166095
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162492.458963000 87.2580952273033
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multi_sessions_20251119_193110/session_002/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 837
|
| 19 |
-
均值融合 (都低速): 837
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 19:31:40
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_193110/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,503 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,162484.091179
|
| 3 |
-
1,162484.101649
|
| 4 |
-
2,162484.120598
|
| 5 |
-
3,162484.136781
|
| 6 |
-
4,162484.155768
|
| 7 |
-
5,162484.16846
|
| 8 |
-
6,162484.18915
|
| 9 |
-
7,162484.202004
|
| 10 |
-
8,162484.220757
|
| 11 |
-
9,162484.236747
|
| 12 |
-
10,162484.25718
|
| 13 |
-
11,162484.270212
|
| 14 |
-
12,162484.290191
|
| 15 |
-
13,162484.301162
|
| 16 |
-
14,162484.320438
|
| 17 |
-
15,162484.335847
|
| 18 |
-
16,162484.355478
|
| 19 |
-
17,162484.368433
|
| 20 |
-
18,162484.387415
|
| 21 |
-
19,162484.401022
|
| 22 |
-
20,162484.422374
|
| 23 |
-
21,162484.435907
|
| 24 |
-
22,162484.454874
|
| 25 |
-
23,162484.467983
|
| 26 |
-
24,162484.490356
|
| 27 |
-
25,162484.501564
|
| 28 |
-
26,162484.520414
|
| 29 |
-
27,162484.536292
|
| 30 |
-
28,162484.555866
|
| 31 |
-
29,162484.568431
|
| 32 |
-
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|
| 33 |
-
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|
| 34 |
-
32,162484.622198
|
| 35 |
-
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|
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-
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|
| 37 |
-
35,162484.66786
|
| 38 |
-
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|
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-
37,162484.701108
|
| 40 |
-
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|
| 41 |
-
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|
| 42 |
-
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|
| 43 |
-
41,162484.767893
|
| 44 |
-
42,162484.787313
|
| 45 |
-
43,162484.800958
|
| 46 |
-
44,162484.82065
|
| 47 |
-
45,162484.835561
|
| 48 |
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46,162484.856927
|
| 49 |
-
47,162484.868252
|
| 50 |
-
48,162484.887663
|
| 51 |
-
49,162484.901376
|
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-
50,162484.920189
|
| 53 |
-
51,162484.934494
|
| 54 |
-
52,162484.956812
|
| 55 |
-
53,162484.970411
|
| 56 |
-
54,162484.98742
|
| 57 |
-
55,162485.00089
|
| 58 |
-
56,162485.021623
|
| 59 |
-
57,162485.035505
|
| 60 |
-
58,162485.053293
|
| 61 |
-
59,162485.067863
|
| 62 |
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60,162485.090185
|
| 63 |
-
61,162485.100894
|
| 64 |
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62,162485.122042
|
| 65 |
-
63,162485.134084
|
| 66 |
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64,162485.152216
|
| 67 |
-
65,162485.167896
|
| 68 |
-
66,162485.189842
|
| 69 |
-
67,162485.200649
|
| 70 |
-
68,162485.220525
|
| 71 |
-
69,162485.235756
|
| 72 |
-
70,162485.25288
|
| 73 |
-
71,162485.267453
|
| 74 |
-
72,162485.293305
|
| 75 |
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73,162485.305615
|
| 76 |
-
74,162485.321365
|
| 77 |
-
75,162485.334093
|
| 78 |
-
76,162485.352525
|
| 79 |
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77,162485.367729
|
| 80 |
-
78,162485.390272
|
| 81 |
-
79,162485.40069
|
| 82 |
-
80,162485.420038
|
| 83 |
-
81,162485.436534
|
| 84 |
-
82,162485.456667
|
| 85 |
-
83,162485.46996
|
| 86 |
-
84,162485.487811
|
| 87 |
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85,162485.50064
|
| 88 |
-
86,162485.520082
|
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87,162485.536245
|
| 90 |
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88,162485.554351
|
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89,162485.567519
|
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90,162485.587267
|
| 93 |
-
91,162485.603281
|
| 94 |
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92,162485.621915
|
| 95 |
-
93,162485.635424
|
| 96 |
-
94,162485.654175
|
| 97 |
-
95,162485.667587
|
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96,162485.687424
|
| 99 |
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97,162485.700503
|
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98,162485.72211
|
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99,162485.734294
|
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100,162485.752333
|
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-
101,162485.767443
|
| 104 |
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102,162485.789619
|
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103,162485.800825
|
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104,162485.819598
|
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|
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106,162485.85447
|
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107,162485.867731
|
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108,162485.887463
|
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109,162485.900573
|
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110,162485.91964
|
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111,162485.934747
|
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|
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113,162485.967099
|
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114,162485.98734
|
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115,162486.000528
|
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116,162486.02025
|
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117,162486.033786
|
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118,162486.053967
|
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119,162486.067585
|
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120,162486.08741
|
| 123 |
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121,162486.100352
|
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122,162486.119425
|
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123,162486.135495
|
| 126 |
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124,162486.15273
|
| 127 |
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125,162486.167293
|
| 128 |
-
126,162486.187419
|
| 129 |
-
127,162486.200547
|
| 130 |
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128,162486.219708
|
| 131 |
-
129,162486.235422
|
| 132 |
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130,162486.252002
|
| 133 |
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131,162486.267255
|
| 134 |
-
132,162486.286885
|
| 135 |
-
133,162486.300149
|
| 136 |
-
134,162486.319933
|
| 137 |
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135,162486.335541
|
| 138 |
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136,162486.352013
|
| 139 |
-
137,162486.367577
|
| 140 |
-
138,162486.386975
|
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139,162486.400598
|
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140,162486.417693
|
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141,162486.434557
|
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142,162486.453732
|
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143,162486.467612
|
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144,162486.486788
|
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145,162486.500096
|
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146,162486.519172
|
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147,162486.535269
|
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148,162486.552376
|
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149,162486.566989
|
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150,162486.58532
|
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151,162486.600414
|
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152,162486.619175
|
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153,162486.633943
|
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154,162486.651802
|
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155,162486.667444
|
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156,162486.684949
|
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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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167,162486.868217
|
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|
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169,162486.900709
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|
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|
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173,162486.967201
|
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174,162486.986164
|
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|
multi_sessions_20251119_193110/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:0f7ea530992d8c9862db3446948ba2137f73bbfa238b0c573e3cc28d56551a5e
|
| 3 |
-
size 3760074
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|
multi_sessions_20251119_193110/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_002/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 162484.087511s
|
| 6 |
-
Vive 第一帧时间戳: 1763551889.971911s
|
| 7 |
-
计算的 offset: -1763389405.884400s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.884400
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 19:31:40
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_193110/session_002/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_003/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1495 +0,0 @@
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| 1 |
-
timestamp,clamp
|
| 2 |
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162500.576897,87.52228402523176
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|
multi_sessions_20251119_193110/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1494 +0,0 @@
|
|
| 1 |
-
162500.576897000 87.52228402523176
|
| 2 |
-
162500.582072000 87.52228402523176
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| 3 |
-
162500.587494000 87.52228402523176
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| 4 |
-
162500.592138000 87.52228402523176
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| 5 |
-
162500.596852000 87.52228402523176
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| 6 |
-
162500.601853000 87.52228402523176
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| 7 |
-
162500.606998000 87.52228402523176
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| 8 |
-
162500.612129000 87.52228402523176
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| 9 |
-
162500.616854000 87.52228402523176
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| 10 |
-
162500.621860000 87.52228402523176
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| 11 |
-
162500.629139000 87.52228402523176
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| 12 |
-
162500.632683000 87.52228402523176
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| 13 |
-
162500.637375000 87.52228402523176
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| 14 |
-
162500.641927000 87.52228402523176
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| 15 |
-
162500.646908000 87.52228402523176
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| 16 |
-
162500.652182000 87.52228402523176
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| 17 |
-
162500.656896000 87.52228402523176
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| 18 |
-
162500.662436000 87.52228402523176
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| 19 |
-
162500.666849000 87.52228402523176
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| 20 |
-
162500.671852000 87.52228402523176
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| 21 |
-
162500.676895000 87.52228402523176
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| 22 |
-
162500.681860000 87.52228402523176
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| 23 |
-
162500.687081000 87.5131874272411
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| 24 |
-
162500.694068000 87.52228402523176
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| 25 |
-
162500.697695000 87.52228402523176
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| 26 |
-
162500.701854000 87.52228402523176
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| 27 |
-
162500.707204000 87.5131874272411
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| 28 |
-
162500.712446000 87.5131874272411
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| 29 |
-
162500.716854000 87.52228402523176
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| 30 |
-
162500.721857000 87.52228402523176
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| 31 |
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162500.729099000 87.52228402523176
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| 32 |
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162500.732733000 87.52228402523176
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| 33 |
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162500.737434000 87.52228402523176
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| 34 |
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162500.741919000 87.52228402523176
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| 35 |
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162500.747018000 87.53137966773579
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| 36 |
-
162500.751803000 87.52228402523176
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| 37 |
-
162500.757243000 87.52228402523176
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| 38 |
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162500.762594000 87.52228402523176
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| 39 |
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162500.766798000 87.52228402523176
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| 40 |
-
162500.771804000 87.52228402523176
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| 41 |
-
162500.776853000 87.52228402523176
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| 42 |
-
162500.781799000 87.53137966773579
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| 43 |
-
162500.787003000 87.52228402523176
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| 44 |
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162500.792041000 87.52228402523176
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| 45 |
-
162500.796801000 87.52228402523176
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| 46 |
-
162500.801801000 87.53137966773579
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| 47 |
-
162500.807003000 87.53137966773579
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| 48 |
-
162500.812074000 87.53137966773579
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| 49 |
-
162500.816799000 87.52228402523176
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| 50 |
-
162500.821807000 87.52228402523176
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| 51 |
-
162500.829124000 87.52228402523176
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| 52 |
-
162500.832631000 87.52228402523176
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| 53 |
-
162500.836795000 87.52228402523176
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| 54 |
-
162500.841950000 87.52228402523176
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| 55 |
-
162500.847233000 87.52228402523176
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| 56 |
-
162500.852036000 87.53137966773579
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| 57 |
-
162500.856850000 87.52228402523176
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| 58 |
-
162500.862385000 87.52228402523176
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| 59 |
-
162500.866797000 87.52228402523176
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| 60 |
-
162500.871800000 87.52228402523176
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| 61 |
-
162500.876804000 87.53137966773579
|
| 62 |
-
162500.881807000 87.53137966773579
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| 63 |
-
162500.887137000 87.52228402523176
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| 64 |
-
162500.892096000 87.52228402523176
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| 65 |
-
162500.896807000 87.52228402523176
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| 66 |
-
162500.901800000 87.52228402523176
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| 67 |
-
162500.906931000 87.52228402523176
|
| 68 |
-
162500.912113000 87.52228402523176
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| 69 |
-
162500.916803000 87.52228402523176
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| 70 |
-
162500.921813000 87.52228402523176
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| 71 |
-
162500.929063000 87.52228402523176
|
| 72 |
-
162500.932680000 87.52228402523176
|
| 73 |
-
162500.937386000 87.52228402523176
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| 74 |
-
162500.941887000 87.52228402523176
|
| 75 |
-
162500.946954000 87.52228402523176
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| 76 |
-
162500.951802000 87.52228402523176
|
| 77 |
-
162500.956753000 87.52228402523176
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| 78 |
-
162500.962717000 87.52228402523176
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| 79 |
-
162500.966748000 87.52228402523176
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| 80 |
-
162500.971754000 87.53137966773579
|
| 81 |
-
162500.976793000 87.52228402523176
|
| 82 |
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162500.982191000 87.52228402523176
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| 83 |
-
162500.987716000 87.52228402523176
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| 84 |
-
162500.992312000 87.52228402523176
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| 85 |
-
162500.996751000 87.52228402523176
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| 86 |
-
162501.001753000 87.52228402523176
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| 87 |
-
162501.006756000 87.52228402523176
|
| 88 |
-
162501.011902000 87.53137966773579
|
| 89 |
-
162501.016754000 87.53137966773579
|
| 90 |
-
162501.021757000 87.53137966773579
|
| 91 |
-
162501.028892000 87.52228402523176
|
| 92 |
-
162501.032589000 87.52228402523176
|
| 93 |
-
162501.036909000 87.52228402523176
|
| 94 |
-
162501.041982000 87.52228402523176
|
| 95 |
-
162501.046789000 87.52228402523176
|
| 96 |
-
162501.051910000 87.52228402523176
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| 97 |
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162501.057194000 87.52228402523176
|
| 98 |
-
162501.062571000 87.53137966773579
|
| 99 |
-
162501.066750000 87.52228402523176
|
| 100 |
-
162501.071751000 87.53137966773579
|
| 101 |
-
162501.077395000 87.52228402523176
|
| 102 |
-
162501.081953000 87.53137966773579
|
| 103 |
-
162501.086786000 87.53137966773579
|
| 104 |
-
162501.091834000 87.52228402523176
|
| 105 |
-
162501.096752000 87.52228402523176
|
| 106 |
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162501.101752000 87.52228402523176
|
| 107 |
-
162501.106809000 87.52228402523176
|
| 108 |
-
162501.112002000 87.52228402523176
|
| 109 |
-
162501.116755000 87.53137966773579
|
| 110 |
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162501.121755000 87.53137966773579
|
| 111 |
-
162501.128988000 87.52228402523176
|
| 112 |
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162501.132581000 87.52228402523176
|
| 113 |
-
162501.137467000 87.52228402523176
|
| 114 |
-
162501.141753000 87.53137966773579
|
| 115 |
-
162501.147324000 87.53137966773579
|
| 116 |
-
162501.151755000 87.52228402523176
|
| 117 |
-
162501.156700000 87.52228402523176
|
| 118 |
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162501.161865000 87.52228402523176
|
| 119 |
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162501.166724000 87.52228402523176
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| 120 |
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162501.172049000 87.52228402523176
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| 121 |
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162501.176760000 87.52228402523176
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| 122 |
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162501.181790000 87.52228402523176
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| 123 |
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162501.187687000 87.52228402523176
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| 124 |
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162501.191736000 87.52228402523176
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| 125 |
-
162501.196700000 87.52228402523176
|
| 126 |
-
162501.201700000 87.52228402523176
|
| 127 |
-
162501.206951000 87.50408987387988
|
| 128 |
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162501.211776000 87.50408987387988
|
| 129 |
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162501.216701000 87.50408987387988
|
| 130 |
-
162501.221717000 87.50408987387988
|
| 131 |
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162501.228745000 87.50408987387988
|
| 132 |
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162501.232537000 87.50408987387988
|
| 133 |
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162501.236731000 87.50408987387988
|
| 134 |
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162501.241755000 87.50408987387988
|
| 135 |
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162501.247268000 87.50408987387988
|
| 136 |
-
162501.252255000 87.50408987387988
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multi_sessions_20251119_193110/session_003/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 747
|
| 19 |
-
均值融合 (都低速): 747
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 19:31:55
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
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|
multi_sessions_20251119_193110/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,449 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,162500.580495
|
| 3 |
-
1,162500.59453
|
| 4 |
-
2,162500.612837
|
| 5 |
-
3,162500.628526
|
| 6 |
-
4,162500.646946
|
| 7 |
-
5,162500.661636
|
| 8 |
-
6,162500.683686
|
| 9 |
-
7,162500.694579
|
| 10 |
-
8,162500.713231
|
| 11 |
-
9,162500.72833
|
| 12 |
-
10,162500.747133
|
| 13 |
-
11,162500.762037
|
| 14 |
-
12,162500.780272
|
| 15 |
-
13,162500.794386
|
| 16 |
-
14,162500.812538
|
| 17 |
-
15,162500.828507
|
| 18 |
-
16,162500.846759
|
| 19 |
-
17,162500.861604
|
| 20 |
-
18,162500.882523
|
| 21 |
-
19,162500.894964
|
| 22 |
-
20,162500.913004
|
| 23 |
-
21,162500.928293
|
| 24 |
-
22,162500.947332
|
| 25 |
-
23,162500.962077
|
| 26 |
-
24,162500.982266
|
| 27 |
-
25,162500.994132
|
| 28 |
-
26,162501.012486
|
| 29 |
-
27,162501.028278
|
| 30 |
-
28,162501.046862
|
| 31 |
-
29,162501.061792
|
| 32 |
-
30,162501.080665
|
| 33 |
-
31,162501.094247
|
| 34 |
-
32,162501.112853
|
| 35 |
-
33,162501.128218
|
| 36 |
-
34,162501.149829
|
| 37 |
-
35,162501.163354
|
| 38 |
-
36,162501.178931
|
| 39 |
-
37,162501.194239
|
| 40 |
-
38,162501.212582
|
| 41 |
-
39,162501.228183
|
| 42 |
-
40,162501.246799
|
| 43 |
-
41,162501.260565
|
| 44 |
-
42,162501.280141
|
| 45 |
-
43,162501.29428
|
| 46 |
-
44,162501.314204
|
| 47 |
-
45,162501.328057
|
| 48 |
-
46,162501.346401
|
| 49 |
-
47,162501.360411
|
| 50 |
-
48,162501.38209
|
| 51 |
-
49,162501.394432
|
| 52 |
-
50,162501.412437
|
| 53 |
-
51,162501.428243
|
| 54 |
-
52,162501.446588
|
| 55 |
-
53,162501.461894
|
| 56 |
-
54,162501.481843
|
| 57 |
-
55,162501.494037
|
| 58 |
-
56,162501.512419
|
| 59 |
-
57,162501.527856
|
| 60 |
-
58,162501.546296
|
| 61 |
-
59,162501.560273
|
| 62 |
-
60,162501.58044
|
| 63 |
-
61,162501.594376
|
| 64 |
-
62,162501.612441
|
| 65 |
-
63,162501.627468
|
| 66 |
-
64,162501.646462
|
| 67 |
-
65,162501.661659
|
| 68 |
-
66,162501.681722
|
| 69 |
-
67,162501.693984
|
| 70 |
-
68,162501.712521
|
| 71 |
-
69,162501.727975
|
| 72 |
-
70,162501.74647
|
| 73 |
-
71,162501.761506
|
| 74 |
-
72,162501.78037
|
| 75 |
-
73,162501.794171
|
| 76 |
-
74,162501.812347
|
| 77 |
-
75,162501.828176
|
| 78 |
-
76,162501.846847
|
| 79 |
-
77,162501.860609
|
| 80 |
-
78,162501.880056
|
| 81 |
-
79,162501.894126
|
| 82 |
-
80,162501.912465
|
| 83 |
-
81,162501.928076
|
| 84 |
-
82,162501.946653
|
| 85 |
-
83,162501.96155
|
| 86 |
-
84,162501.980338
|
| 87 |
-
85,162501.994104
|
| 88 |
-
86,162502.012269
|
| 89 |
-
87,162502.026643
|
| 90 |
-
88,162502.046509
|
| 91 |
-
89,162502.061333
|
| 92 |
-
90,162502.081739
|
| 93 |
-
91,162502.093352
|
| 94 |
-
92,162502.112166
|
| 95 |
-
93,162502.12791
|
| 96 |
-
94,162502.146014
|
| 97 |
-
95,162502.160048
|
| 98 |
-
96,162502.178833
|
| 99 |
-
97,162502.195237
|
| 100 |
-
98,162502.212145
|
| 101 |
-
99,162502.227682
|
| 102 |
-
100,162502.246502
|
| 103 |
-
101,162502.261092
|
| 104 |
-
102,162502.281477
|
| 105 |
-
103,162502.293347
|
| 106 |
-
104,162502.311457
|
| 107 |
-
105,162502.327831
|
| 108 |
-
106,162502.345982
|
| 109 |
-
107,162502.360782
|
| 110 |
-
108,162502.380029
|
| 111 |
-
109,162502.394034
|
| 112 |
-
110,162502.411179
|
| 113 |
-
111,162502.426659
|
| 114 |
-
112,162502.445746
|
| 115 |
-
113,162502.460966
|
| 116 |
-
114,162502.478827
|
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multi_sessions_20251119_193110/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:6a5cc7de5f9af11b49855c52a6aea9e73029eac5daead7434cb29e6e5378da31
|
| 3 |
-
size 3438109
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|
multi_sessions_20251119_193110/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_003/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 162500.579466s
|
| 6 |
-
Vive 第一帧时间戳: 1763551906.461853s
|
| 7 |
-
计算的 offset: -1763389405.882387s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.882387
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 19:31:55
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
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multi_sessions_20251119_193110/session_003/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_004/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1423 +0,0 @@
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| 1 |
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timestamp,clamp
|
| 2 |
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162515.913289,87.75845985808992
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162522.262426,87.3857347942701
|
| 1273 |
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162522.267049,87.3857347942701
|
| 1274 |
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162522.272677,87.3857347942701
|
| 1275 |
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162522.276995,87.3857347942701
|
| 1276 |
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162522.282602,87.3857347942701
|
| 1277 |
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|
| 1278 |
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162522.291967,87.3857347942701
|
| 1279 |
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162522.296973,87.3857347942701
|
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162522.30354,87.3857347942701
|
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|
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162522.312021,87.3857347942701
|
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162522.317294,87.39484475688592
|
| 1284 |
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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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|
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162522.79684,87.40395376564047
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162522.869963,87.40395376564047
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162522.874865,87.41306182041758
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162522.878701,87.41306182041758
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162522.8819,87.42216892110109
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162522.8869,87.42216892110109
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162522.91969,87.42216892110109
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162522.937278,87.41306182041758
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162522.946802,87.42216892110109
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162522.952596,87.42216892110109
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162522.956791,87.42216892110109
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162522.962154,87.41306182041758
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162522.96902,87.41306182041758
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162522.972645,87.41306182041758
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162522.976848,87.41306182041758
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162522.981917,87.41306182041758
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162522.986789,87.42216892110109
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| 1418 |
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162522.991785,87.41306182041758
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| 1419 |
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162522.996785,87.42216892110109
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| 1420 |
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162523.003264,87.41306182041758
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| 1421 |
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162523.006789,87.42216892110109
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| 1422 |
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162523.011874,87.42216892110109
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multi_sessions_20251119_193110/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1422 +0,0 @@
|
|
| 1 |
-
162515.913289000 87.75845985808992
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| 2 |
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162515.919904000 87.75845985808992
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162515.923595000 87.76753061726019
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162515.998272000 87.75845985808992
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162516.004123000 87.75845985808992
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162516.008698000 87.75845985808992
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162516.013304000 87.75845985808992
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162516.019150000 87.75845985808992
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162516.024486000 87.76753061726019
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162516.028285000 87.75845985808992
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162516.033267000 87.75845985808992
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162516.039060000 87.75845985808992
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162516.043220000 87.75845985808992
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162516.048228000 87.75845985808992
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162516.053262000 87.75845985808992
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| 30 |
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162516.058902000 87.76753061726019
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| 31 |
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162516.063301000 87.75845985808992
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162516.068787000 87.75845985808992
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162516.073530000 87.75845985808992
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162516.078341000 87.75845985808992
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162516.083652000 87.75845985808992
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162516.088785000 87.75845985808992
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162516.093214000 87.75845985808992
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162516.098249000 87.75845985808992
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162516.105944000 87.75845985808992
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162516.109090000 87.75845985808992
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162516.113248000 87.75845985808992
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| 42 |
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162516.119613000 87.75845985808992
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162516.123752000 87.75845985808992
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162516.128837000 87.75845985808992
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162516.133262000 87.75845985808992
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162516.138913000 87.75845985808992
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162516.143295000 87.76753061726019
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162516.148227000 87.76753061726019
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162516.153299000 87.76753061726019
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| 50 |
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162516.158225000 87.76753061726019
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162516.163237000 87.76753061726019
|
| 52 |
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162516.171169000 87.75845985808992
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| 53 |
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162516.174053000 87.75845985808992
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162516.178232000 87.75845985808992
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| 55 |
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162516.184000000 87.75845985808992
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| 56 |
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162516.189218000 87.75845985808992
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| 57 |
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162516.193239000 87.75845985808992
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162516.198218000 87.75845985808992
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162516.203386000 87.75845985808992
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162516.208278000 87.75845985808992
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162516.213255000 87.75845985808992
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162516.219136000 87.75845985808992
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162516.224360000 87.75845985808992
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162516.228265000 87.75845985808992
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162516.233213000 87.75845985808992
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162516.238934000 87.75845985808992
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162516.243178000 87.76753061726019
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162516.248173000 87.75845985808992
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162516.253218000 87.75845985808992
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162516.258821000 87.75845985808992
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162516.263274000 87.75845985808992
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162516.268710000 87.76753061726019
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162516.273278000 87.75845985808992
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162516.278183000 87.75845985808992
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162516.283675000 87.75845985808992
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| 76 |
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162516.288191000 87.76753061726019
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| 77 |
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162516.293167000 87.76753061726019
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162516.298210000 87.76753061726019
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162516.305485000 87.75845985808992
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162516.309008000 87.75845985808992
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162516.313199000 87.75845985808992
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162516.319716000 87.75845985808992
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162516.323749000 87.75845985808992
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162516.328165000 87.75845985808992
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162516.333220000 87.75845985808992
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162516.338832000 87.75845985808992
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162516.343168000 87.75845985808992
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162516.353701000 87.76753061726019
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162516.358617000 87.75845985808992
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162516.363189000 87.75845985808992
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162516.370451000 87.75845985808992
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162516.374004000 87.75845985808992
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162516.378173000 87.76753061726019
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162516.383350000 87.76753061726019
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162516.388227000 87.76753061726019
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162516.393200000 87.76753061726019
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162516.403184000 87.75845985808992
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162516.409000000 87.75845985808992
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162516.418243000 87.75845985808992
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162516.424317000 87.75845985808992
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162516.433165000 87.75845985808992
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162516.438929000 87.75845985808992
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162516.443172000 87.75845985808992
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162516.448142000 87.75845985808992
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162516.453228000 87.76753061726019
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162516.463372000 87.76753061726019
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162516.468652000 87.76753061726019
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162516.478166000 87.75845985808992
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162516.493121000 87.75845985808992
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162516.513183000 87.75845985808992
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162516.519693000 87.75845985808992
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162516.523235000 87.75845985808992
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162516.528120000 87.75845985808992
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162516.533120000 87.75845985808992
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162516.593120000 87.75845985808992
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162516.633119000 87.75845985808992
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162516.648092000 87.75845985808992
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| 1374 |
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162522.777064000 87.40395376564047
|
| 1375 |
-
162522.781851000 87.40395376564047
|
| 1376 |
-
162522.786889000 87.40395376564047
|
| 1377 |
-
162522.791835000 87.40395376564047
|
| 1378 |
-
162522.796840000 87.40395376564047
|
| 1379 |
-
162522.803226000 87.40395376564047
|
| 1380 |
-
162522.806838000 87.40395376564047
|
| 1381 |
-
162522.811855000 87.40395376564047
|
| 1382 |
-
162522.817800000 87.40395376564047
|
| 1383 |
-
162522.822060000 87.40395376564047
|
| 1384 |
-
162522.827144000 87.40395376564047
|
| 1385 |
-
162522.835081000 87.40395376564047
|
| 1386 |
-
162522.838734000 87.40395376564047
|
| 1387 |
-
162522.841849000 87.40395376564047
|
| 1388 |
-
162522.846857000 87.40395376564047
|
| 1389 |
-
162522.852780000 87.40395376564047
|
| 1390 |
-
162522.856840000 87.41306182041758
|
| 1391 |
-
162522.861840000 87.41306182041758
|
| 1392 |
-
162522.869963000 87.40395376564047
|
| 1393 |
-
162522.874865000 87.41306182041758
|
| 1394 |
-
162522.878701000 87.41306182041758
|
| 1395 |
-
162522.881900000 87.42216892110109
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| 1396 |
-
162522.886900000 87.42216892110109
|
| 1397 |
-
162522.891835000 87.42216892110109
|
| 1398 |
-
162522.896840000 87.41306182041758
|
| 1399 |
-
162522.903603000 87.41306182041758
|
| 1400 |
-
162522.906893000 87.41306182041758
|
| 1401 |
-
162522.911867000 87.41306182041758
|
| 1402 |
-
162522.919690000 87.42216892110109
|
| 1403 |
-
162522.922676000 87.42216892110109
|
| 1404 |
-
162522.927333000 87.42216892110109
|
| 1405 |
-
162522.931837000 87.42216892110109
|
| 1406 |
-
162522.937278000 87.41306182041758
|
| 1407 |
-
162522.942407000 87.41306182041758
|
| 1408 |
-
162522.946802000 87.42216892110109
|
| 1409 |
-
162522.952596000 87.42216892110109
|
| 1410 |
-
162522.956791000 87.42216892110109
|
| 1411 |
-
162522.962154000 87.41306182041758
|
| 1412 |
-
162522.969020000 87.41306182041758
|
| 1413 |
-
162522.972645000 87.41306182041758
|
| 1414 |
-
162522.976848000 87.41306182041758
|
| 1415 |
-
162522.981917000 87.41306182041758
|
| 1416 |
-
162522.986789000 87.42216892110109
|
| 1417 |
-
162522.991785000 87.41306182041758
|
| 1418 |
-
162522.996785000 87.42216892110109
|
| 1419 |
-
162523.003264000 87.41306182041758
|
| 1420 |
-
162523.006789000 87.42216892110109
|
| 1421 |
-
162523.011874000 87.42216892110109
|
| 1422 |
-
162523.018065000 87.42216892110109
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|
multi_sessions_20251119_193110/session_004/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 711
|
| 19 |
-
均值融合 (都低速): 711
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 19:32:10
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
|
|
|
|
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|
multi_sessions_20251119_193110/session_004/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_004/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_004/RGB_Images/timestamps.csv
DELETED
|
@@ -1,428 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,162515.905635
|
| 3 |
-
1,162515.921379
|
| 4 |
-
2,162515.93924
|
| 5 |
-
3,162515.957601
|
| 6 |
-
4,162515.972027
|
| 7 |
-
5,162515.990028
|
| 8 |
-
6,162516.007391
|
| 9 |
-
7,162516.021827
|
| 10 |
-
8,162516.039119
|
| 11 |
-
9,162516.057377
|
| 12 |
-
10,162516.072137
|
| 13 |
-
11,162516.088879
|
| 14 |
-
12,162516.105387
|
| 15 |
-
13,162516.121112
|
| 16 |
-
14,162516.13913
|
| 17 |
-
15,162516.157574
|
| 18 |
-
16,162516.171891
|
| 19 |
-
17,162516.189832
|
| 20 |
-
18,162516.207546
|
| 21 |
-
19,162516.221835
|
| 22 |
-
20,162516.238994
|
| 23 |
-
21,162516.257302
|
| 24 |
-
22,162516.271892
|
| 25 |
-
23,162516.289996
|
| 26 |
-
24,162516.305565
|
| 27 |
-
25,162516.32112
|
| 28 |
-
26,162516.33901
|
| 29 |
-
27,162516.357328
|
| 30 |
-
28,162516.371755
|
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409,162522.71897
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| 412 |
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410,162522.736975
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411,162522.753814
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| 414 |
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412,162522.769589
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413,162522.787616
|
| 416 |
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414,162522.803453
|
| 417 |
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415,162522.821589
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| 418 |
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416,162522.836004
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417,162522.852303
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| 420 |
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418,162522.869275
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| 421 |
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419,162522.887408
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420,162522.903683
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421,162522.919174
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| 424 |
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422,162522.936805
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423,162522.954482
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424,162522.969416
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425,162522.987373
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426,162523.003504
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|
multi_sessions_20251119_193110/session_004/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:5d4c9ce3d613f5afad616541af917441cce1525aca1776fef2cfd97f96e7aa3e
|
| 3 |
-
size 3240436
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|
multi_sessions_20251119_193110/session_004/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_004/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 162515.911456s
|
| 6 |
-
Vive 第一帧时间戳: 1763551921.791858s
|
| 7 |
-
计算的 offset: -1763389405.880402s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.880402
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 19:32:10
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
|
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|
multi_sessions_20251119_193110/session_004/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_005/Clamp_Data/clamp.csv
DELETED
|
@@ -1,1608 +0,0 @@
|
|
| 1 |
-
timestamp,clamp
|
| 2 |
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162530.35533,87.70401517864401
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| 1507 |
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162537.879846,87.37662387790921
|
| 1508 |
-
162537.884029,87.3857347942701
|
| 1509 |
-
162537.888897,87.3857347942701
|
| 1510 |
-
162537.893934,87.3857347942701
|
| 1511 |
-
162537.898913,87.3857347942701
|
| 1512 |
-
162537.9044,87.3857347942701
|
| 1513 |
-
162537.908908,87.3857347942701
|
| 1514 |
-
162537.915233,87.3857347942701
|
| 1515 |
-
162537.918898,87.3857347942701
|
| 1516 |
-
162537.923908,87.3857347942701
|
| 1517 |
-
162537.92902,87.3857347942701
|
| 1518 |
-
162537.93391,87.37662387790921
|
| 1519 |
-
162537.939045,87.37662387790921
|
| 1520 |
-
162537.9465,87.37662387790921
|
| 1521 |
-
162537.949792,87.37662387790921
|
| 1522 |
-
162537.953908,87.37662387790921
|
| 1523 |
-
162537.958913,87.37662387790921
|
| 1524 |
-
162537.964189,87.37662387790921
|
| 1525 |
-
162537.968915,87.37662387790921
|
| 1526 |
-
162537.973917,87.37662387790921
|
| 1527 |
-
162537.981069,87.3857347942701
|
| 1528 |
-
162537.984721,87.3857347942701
|
| 1529 |
-
162537.988896,87.3857347942701
|
| 1530 |
-
162537.993962,87.3857347942701
|
| 1531 |
-
162537.998909,87.37662387790921
|
| 1532 |
-
162538.003992,87.37662387790921
|
| 1533 |
-
162538.008857,87.37662387790921
|
| 1534 |
-
162538.015176,87.37662387790921
|
| 1535 |
-
162538.018878,87.37662387790921
|
| 1536 |
-
162538.023859,87.37662387790921
|
| 1537 |
-
162538.029001,87.37662387790921
|
| 1538 |
-
162538.03386,87.37662387790921
|
| 1539 |
-
162538.038872,87.37662387790921
|
| 1540 |
-
162538.044061,87.37662387790921
|
| 1541 |
-
162538.04898,87.3857347942701
|
| 1542 |
-
162538.05391,87.3857347942701
|
| 1543 |
-
162538.058935,87.3857347942701
|
| 1544 |
-
162538.064797,87.3857347942701
|
| 1545 |
-
162538.068897,87.3857347942701
|
| 1546 |
-
162538.073864,87.3857347942701
|
| 1547 |
-
162538.079876,87.3857347942701
|
| 1548 |
-
162538.083859,87.37662387790921
|
| 1549 |
-
162538.088846,87.37662387790921
|
| 1550 |
-
162538.093896,87.3857347942701
|
| 1551 |
-
162538.098918,87.3857347942701
|
| 1552 |
-
162538.103896,87.37662387790921
|
| 1553 |
-
162538.108858,87.37662387790921
|
| 1554 |
-
162538.115131,87.37662387790921
|
| 1555 |
-
162538.118848,87.37662387790921
|
| 1556 |
-
162538.12386,87.3857347942701
|
| 1557 |
-
162538.128988,87.37662387790921
|
| 1558 |
-
162538.133861,87.37662387790921
|
| 1559 |
-
162538.139438,87.37662387790921
|
| 1560 |
-
162538.144257,87.37662387790921
|
| 1561 |
-
162538.149202,87.37662387790921
|
| 1562 |
-
162538.153858,87.37662387790921
|
| 1563 |
-
162538.158856,87.37662387790921
|
| 1564 |
-
162538.164634,87.37662387790921
|
| 1565 |
-
162538.168857,87.37662387790921
|
| 1566 |
-
162538.173863,87.37662387790921
|
| 1567 |
-
162538.180926,87.37662387790921
|
| 1568 |
-
162538.184671,87.37662387790921
|
| 1569 |
-
162538.188846,87.37662387790921
|
| 1570 |
-
162538.194002,87.37662387790921
|
| 1571 |
-
162538.199445,87.37662387790921
|
| 1572 |
-
162538.203978,87.37662387790921
|
| 1573 |
-
162538.208821,87.37662387790921
|
| 1574 |
-
162538.214618,87.37662387790921
|
| 1575 |
-
162538.218809,87.37662387790921
|
| 1576 |
-
162538.223821,87.37662387790921
|
| 1577 |
-
162538.228867,87.37662387790921
|
| 1578 |
-
162538.233888,87.37662387790921
|
| 1579 |
-
162538.239566,87.37662387790921
|
| 1580 |
-
162538.244797,87.37662387790921
|
| 1581 |
-
162538.248822,87.37662387790921
|
| 1582 |
-
162538.25382,87.37662387790921
|
| 1583 |
-
162538.259374,87.37662387790921
|
| 1584 |
-
162538.264237,87.3857347942701
|
| 1585 |
-
162538.268812,87.3857347942701
|
| 1586 |
-
162538.273827,87.37662387790921
|
| 1587 |
-
162538.281106,87.37662387790921
|
| 1588 |
-
162538.284635,87.37662387790921
|
| 1589 |
-
162538.28881,87.37662387790921
|
| 1590 |
-
162538.293853,87.37662387790921
|
| 1591 |
-
162538.299622,87.37662387790921
|
| 1592 |
-
162538.3039,87.3857347942701
|
| 1593 |
-
162538.308821,87.37662387790921
|
| 1594 |
-
162538.314368,87.37662387790921
|
| 1595 |
-
162538.319318,87.36751200791944
|
| 1596 |
-
162538.323827,87.37662387790921
|
| 1597 |
-
162538.328889,87.3857347942701
|
| 1598 |
-
162538.333912,87.3857347942701
|
| 1599 |
-
162538.339565,87.3857347942701
|
| 1600 |
-
162538.343946,87.37662387790921
|
| 1601 |
-
162538.348827,87.37662387790921
|
| 1602 |
-
162538.353822,87.37662387790921
|
| 1603 |
-
162538.359206,87.37662387790921
|
| 1604 |
-
162538.364637,87.37662387790921
|
| 1605 |
-
162538.368819,87.37662387790921
|
| 1606 |
-
162538.373913,87.37662387790921
|
| 1607 |
-
162538.380786,87.37662387790921
|
| 1608 |
-
162538.383812,87.37662387790921
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multi_sessions_20251119_193110/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1607 +0,0 @@
|
|
| 1 |
-
162530.355330000 87.70401517864401
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| 2 |
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162530.360319000 87.70401517864401
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| 3 |
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162530.366969000 87.70401517864401
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162530.370318000 87.70401517864401
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162530.375338000 87.70401517864401
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162530.380706000 87.70401517864401
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162530.385370000 87.70401517864401
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162530.390316000 87.69493771241248
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162530.395484000 87.70401517864401
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162530.405335000 87.70401517864401
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162530.410329000 87.70401517864401
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162530.425556000 87.70401517864401
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162530.430363000 87.69493771241248
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162530.435396000 87.70401517864401
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162530.441476000 87.69493771241248
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162530.445331000 87.70401517864401
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| 20 |
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162530.450494000 87.70401517864401
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| 21 |
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162530.455319000 87.70401517864401
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| 22 |
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162530.460335000 87.70401517864401
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| 23 |
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162530.465394000 87.69493771241248
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| 24 |
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162530.470341000 87.70401517864401
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| 25 |
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162530.475341000 87.70401517864401
|
| 26 |
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162530.483315000 87.70401517864401
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| 27 |
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162530.487097000 87.70401517864401
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| 28 |
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162530.490270000 87.70401517864401
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| 29 |
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162530.495285000 87.69493771241248
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| 30 |
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162530.500547000 87.69493771241248
|
| 31 |
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162530.505287000 87.70401517864401
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| 32 |
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162530.510773000 87.70401517864401
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| 33 |
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162530.516084000 87.70401517864401
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| 34 |
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162530.520843000 87.70401517864401
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| 35 |
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162530.525307000 87.70401517864401
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| 36 |
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162530.532389000 87.70401517864401
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| 37 |
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162530.536105000 87.70401517864401
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| 38 |
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162530.541599000 87.70401517864401
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| 39 |
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162530.545303000 87.69493771241248
|
| 40 |
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162530.550391000 87.69493771241248
|
| 41 |
-
162530.555283000 87.69493771241248
|
| 42 |
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162530.560281000 87.70401517864401
|
| 43 |
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162530.566124000 87.70401517864401
|
| 44 |
-
162530.570282000 87.69493771241248
|
| 45 |
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162530.575288000 87.69493771241248
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| 46 |
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162530.580547000 87.70401517864401
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| 47 |
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162530.585886000 87.70401517864401
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| 48 |
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162530.590269000 87.70401517864401
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| 49 |
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162530.595503000 87.71309168707114
|
| 50 |
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162530.600810000 87.70401517864401
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| 51 |
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162530.605288000 87.70401517864401
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| 52 |
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162530.610302000 87.70401517864401
|
| 53 |
-
162530.617886000 87.70401517864401
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| 54 |
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162530.621095000 87.70401517864401
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| 55 |
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162530.625305000 87.70401517864401
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| 56 |
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162530.630338000 87.70401517864401
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| 57 |
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162530.635444000 87.70401517864401
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| 58 |
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162530.640651000 87.70401517864401
|
| 59 |
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162530.646003000 87.70401517864401
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| 60 |
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162530.650292000 87.70401517864401
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| 61 |
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162530.655274000 87.69493771241248
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| 62 |
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162530.660354000 87.69493771241248
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| 63 |
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162530.665444000 87.69493771241248
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162530.670287000 87.69493771241248
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162530.675291000 87.69493771241248
|
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162530.681244000 87.69493771241248
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| 67 |
-
162530.685250000 87.69493771241248
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162530.690241000 87.69493771241248
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| 69 |
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162530.695238000 87.69493771241248
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| 70 |
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162530.700764000 87.69493771241248
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| 71 |
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162530.705230000 87.70401517864401
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| 72 |
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162530.710291000 87.69493771241248
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| 73 |
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162530.717152000 87.70401517864401
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| 74 |
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162530.720657000 87.70401517864401
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| 75 |
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162530.725269000 87.70401517864401
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162530.730270000 87.70401517864401
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| 77 |
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162530.735589000 87.70401517864401
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| 78 |
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162530.740243000 87.69493771241248
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162530.745243000 87.69493771241248
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162530.750335000 87.69493771241248
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162530.755231000 87.69493771241248
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162530.760231000 87.69493771241248
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162530.766040000 87.69493771241248
|
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162530.770231000 87.69493771241248
|
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162530.775259000 87.70401517864401
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162530.780544000 87.69493771241248
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162530.785273000 87.70401517864401
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162530.790229000 87.69493771241248
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162530.795553000 87.70401517864401
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162530.800856000 87.70401517864401
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| 91 |
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162530.805273000 87.70401517864401
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162530.810240000 87.71309168707114
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| 93 |
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162530.817758000 87.71309168707114
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| 94 |
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162530.821054000 87.70401517864401
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162530.825249000 87.70401517864401
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162530.830396000 87.70401517864401
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162530.835397000 87.70401517864401
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162530.840268000 87.70401517864401
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162530.845871000 87.70401517864401
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162530.850259000 87.69493771241248
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162530.855231000 87.69493771241248
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162530.860245000 87.70401517864401
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162530.865392000 87.70401517864401
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162530.870248000 87.70401517864401
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162530.875246000 87.70401517864401
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162530.883473000 87.69493771241248
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162530.887075000 87.69493771241248
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162530.890227000 87.70401517864401
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162530.895300000 87.70401517864401
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162530.901039000 87.70401517864401
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162530.905253000 87.69493771241248
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162530.910224000 87.69493771241248
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162530.940330000 87.70401517864401
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162530.950550000 87.70401517864401
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162530.960190000 87.70401517864401
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162530.970204000 87.70401517864401
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162530.975220000 87.70401517864401
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162531.020398000 87.70401517864401
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162531.037012000 87.70401517864401
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162531.041120000 87.70401517864401
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162531.045202000 87.70401517864401
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| 140 |
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162531.050773000 87.70401517864401
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162531.055190000 87.70401517864401
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162531.060215000 87.70401517864401
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| 143 |
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162531.066320000 87.70401517864401
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162531.070201000 87.69493771241248
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162531.085222000 87.70401517864401
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162531.095582000 87.70401517864401
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162531.100553000 87.70401517864401
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162531.116070000 87.70401517864401
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162531.535090000 87.67677990699939
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multi_sessions_20251119_193110/session_005/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 804
|
| 19 |
-
均值融合 (都低速): 804
|
| 20 |
-
使用SLAM (VIVE高速): 0
|
| 21 |
-
使用VIVE (SLAM高速): 0
|
| 22 |
-
都高速 (已跳过): 0
|
| 23 |
-
总跳过帧数: 0
|
| 24 |
-
|
| 25 |
-
策略分布:
|
| 26 |
-
均值融合: 100.0%
|
| 27 |
-
使用SLAM: 0.0%
|
| 28 |
-
使用VIVE: 0.0%
|
| 29 |
-
|
| 30 |
-
输出率统计:
|
| 31 |
-
输出率: 100.0%
|
| 32 |
-
跳过率: 0.0%
|
| 33 |
-
|
| 34 |
-
生成时间: 2025-11-19 19:32:25
|
| 35 |
-
设备标签: main
|
| 36 |
-
XV 序列号: 250801DR48FP25002087
|
| 37 |
-
Vive 序列号: LHR_B728E669
|
|
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|
multi_sessions_20251119_193110/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_005/RGB_Images/timestamps.csv
DELETED
|
@@ -1,483 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,162530.349685
|
| 3 |
-
1,162530.367019
|
| 4 |
-
2,162530.384661
|
| 5 |
-
3,162530.402488
|
| 6 |
-
4,162530.419536
|
| 7 |
-
5,162530.433127
|
| 8 |
-
6,162530.449815
|
| 9 |
-
7,162530.466909
|
| 10 |
-
8,162530.482602
|
| 11 |
-
9,162530.500743
|
| 12 |
-
10,162530.516741
|
| 13 |
-
11,162530.533259
|
| 14 |
-
12,162530.549644
|
| 15 |
-
13,162530.566701
|
| 16 |
-
14,162530.584407
|
| 17 |
-
15,162530.602608
|
| 18 |
-
16,162530.616775
|
| 19 |
-
17,162530.634145
|
| 20 |
-
18,162530.651237
|
| 21 |
-
19,162530.666949
|
| 22 |
-
20,162530.684502
|
| 23 |
-
21,162530.702473
|
| 24 |
-
22,162530.719271
|
| 25 |
-
23,162530.733359
|
| 26 |
-
24,162530.749599
|
| 27 |
-
25,162530.766607
|
| 28 |
-
26,162530.784581
|
| 29 |
-
27,162530.802562
|
| 30 |
-
28,162530.816647
|
| 31 |
-
29,162530.834101
|
| 32 |
-
30,162530.851089
|
| 33 |
-
31,162530.866952
|
| 34 |
-
32,162530.882687
|
| 35 |
-
33,162530.90047
|
| 36 |
-
34,162530.917793
|
| 37 |
-
35,162530.934013
|
| 38 |
-
36,162530.949278
|
| 39 |
-
37,162530.966526
|
| 40 |
-
38,162530.984441
|
| 41 |
-
39,162531.000928
|
| 42 |
-
40,162531.01639
|
| 43 |
-
41,162531.032893
|
| 44 |
-
42,162531.0493
|
| 45 |
-
43,162531.066902
|
| 46 |
-
44,162531.083065
|
| 47 |
-
45,162531.100711
|
| 48 |
-
46,162531.116701
|
| 49 |
-
47,162531.133283
|
| 50 |
-
48,162531.149494
|
| 51 |
-
49,162531.166499
|
| 52 |
-
50,162531.184393
|
| 53 |
-
51,162531.200596
|
| 54 |
-
52,162531.216443
|
| 55 |
-
53,162531.23289
|
| 56 |
-
54,162531.249248
|
| 57 |
-
55,162531.266797
|
| 58 |
-
56,162531.284351
|
| 59 |
-
57,162531.302247
|
| 60 |
-
58,162531.317102
|
| 61 |
-
59,162531.333742
|
| 62 |
-
60,162531.349101
|
| 63 |
-
61,162531.366428
|
| 64 |
-
62,162531.384392
|
| 65 |
-
63,162531.40078
|
| 66 |
-
64,162531.416422
|
| 67 |
-
65,162531.432853
|
| 68 |
-
66,162531.449249
|
| 69 |
-
67,162531.466658
|
| 70 |
-
68,162531.484536
|
| 71 |
-
69,162531.50205
|
| 72 |
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450,162537.84711
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451,162537.864396
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452,162537.882023
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453,162537.899836
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454,162537.914682
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455,162537.932222
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456,162537.947137
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457,162537.965581
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458,162537.98044
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459,162537.999589
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460,162538.014612
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461,162538.033157
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462,162538.04851
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463,162538.064331
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464,162538.082067
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465,162538.099807
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466,162538.114309
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467,162538.131616
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468,162538.148398
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469,162538.164159
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470,162538.180178
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471,162538.198064
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472,162538.214041
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473,162538.230682
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474,162538.246799
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475,162538.264271
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476,162538.280563
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477,162538.297974
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478,162538.313786
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479,162538.330543
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480,162538.347064
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481,162538.364161
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multi_sessions_20251119_193110/session_005/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:c686f7f581ec66df937bd2914699522e80e24ea7d89e308d8b53d037e3817fd2
|
| 3 |
-
size 3462340
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multi_sessions_20251119_193110/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_193110/session_005/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 162530.353467s
|
| 6 |
-
Vive 第一帧时间戳: 1763551936.231867s
|
| 7 |
-
计算的 offset: -1763389405.878400s
|
| 8 |
-
对齐公式: vive_aligned = vive_original + -1763389405.878400
|
| 9 |
-
|
| 10 |
-
说明:
|
| 11 |
-
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
-
- 时间戳已与 SLAM 数据对齐
|
| 13 |
-
- 坐标已转换到 Gripper 坐标系
|
| 14 |
-
|
| 15 |
-
生成时间: 2025-11-19 19:32:25
|
| 16 |
-
设备标签: main
|
| 17 |
-
XV 序列号: 250801DR48FP25002087
|
| 18 |
-
Vive 序列号: LHR_B728E669
|
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