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- multi_sessions_20251119_182300/collection_summary.txt +93 -0
- multi_sessions_20251119_182300/session_001/Clamp_Data/clamp.csv +1414 -0
- multi_sessions_20251119_182300/session_001/Clamp_Data/clamp_data_tum.txt +1413 -0
- multi_sessions_20251119_182300/session_001/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_182300/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182300/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182300/session_001/RGB_Images/timestamps.csv +425 -0
- multi_sessions_20251119_182300/session_001/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_182300/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182300/session_001/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_182300/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182300/session_002/Clamp_Data/clamp.csv +1337 -0
- multi_sessions_20251119_182300/session_002/Clamp_Data/clamp_data_tum.txt +1336 -0
- multi_sessions_20251119_182300/session_002/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_182300/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182300/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182300/session_002/RGB_Images/timestamps.csv +402 -0
- multi_sessions_20251119_182300/session_002/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_182300/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182300/session_002/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_182300/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182300/session_003/Clamp_Data/clamp.csv +1486 -0
- multi_sessions_20251119_182300/session_003/Clamp_Data/clamp_data_tum.txt +1485 -0
- multi_sessions_20251119_182300/session_003/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_182300/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182300/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182300/session_003/RGB_Images/timestamps.csv +446 -0
- multi_sessions_20251119_182300/session_003/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_182300/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182300/session_003/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_182300/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182300/session_004/Clamp_Data/clamp.csv +1383 -0
- multi_sessions_20251119_182300/session_004/Clamp_Data/clamp_data_tum.txt +1382 -0
- multi_sessions_20251119_182300/session_004/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_182300/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182300/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182300/session_004/RGB_Images/timestamps.csv +416 -0
- multi_sessions_20251119_182300/session_004/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_182300/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182300/session_004/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_182300/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182300/session_005/Clamp_Data/clamp.csv +1526 -0
- multi_sessions_20251119_182300/session_005/Clamp_Data/clamp_data_tum.txt +1525 -0
- multi_sessions_20251119_182300/session_005/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_182300/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_182300/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_182300/session_005/RGB_Images/timestamps.csv +459 -0
- multi_sessions_20251119_182300/session_005/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_182300/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182300/session_005/Vive_Poses/offset_info.txt +18 -0
multi_sessions_20251119_182300/collection_summary.txt
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| 1 |
+
========================================
|
| 2 |
+
多会话XVisio数据采集摘要（Buffered版本）
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| 3 |
+
========================================
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| 4 |
+
开始时间: 2025年 11月 19日 星期三 18:23:02 CST
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| 5 |
+
设备模式: 单设备
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| 6 |
+
设备数量: 1
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| 7 |
+
计划会话数: 5
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| 8 |
+
会话间隔: 3秒
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| 9 |
+
摘要目录: ./multi_sessions_20251119_182300
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| 10 |
+
ToF模式: off
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| 11 |
+
Python脚本: ./single_session_data_collector_buffered.py
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| 12 |
+
配置文件: ../start_process/config.json
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| 13 |
+
========================================
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| 14 |
+
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| 15 |
+
设备信息:
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| 16 |
+
XV序列号: 250801DR48FP25002087
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| 17 |
+
Vive序列号: LHR_B728E669
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| 18 |
+
设备标签: main
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| 19 |
+
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| 20 |
+
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| 21 |
+
==========================================
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| 22 |
+
会话 1 信息:
|
| 23 |
+
==========================================
|
| 24 |
+
开始时间: 2025年 11月 19日 星期三 18:23:02 CST
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| 25 |
+
输出目录: ./multi_sessions_20251119_182300/session_001
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| 26 |
+
结束时间: 2025年 11月 19日 星期三 18:23:15 CST
|
| 27 |
+
持续时间: 13秒
|
| 28 |
+
状态: 成功
|
| 29 |
+
数据验证: 通过
|
| 30 |
+
数据目录: ./multi_sessions_20251119_182300/session_001
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| 31 |
+
|
| 32 |
+
==========================================
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| 33 |
+
会话 2 信息:
|
| 34 |
+
==========================================
|
| 35 |
+
开始时间: 2025年 11月 19日 星期三 18:23:19 CST
|
| 36 |
+
输出目录: ./multi_sessions_20251119_182300/session_002
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| 37 |
+
结束时间: 2025年 11月 19日 星期三 18:23:31 CST
|
| 38 |
+
持续时间: 12秒
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| 39 |
+
状态: 成功
|
| 40 |
+
数据验证: 通过
|
| 41 |
+
数据目录: ./multi_sessions_20251119_182300/session_002
|
| 42 |
+
|
| 43 |
+
==========================================
|
| 44 |
+
会话 3 信息:
|
| 45 |
+
==========================================
|
| 46 |
+
开始时间: 2025年 11月 19日 星期三 18:23:35 CST
|
| 47 |
+
输出目录: ./multi_sessions_20251119_182300/session_003
|
| 48 |
+
结束时间: 2025年 11月 19日 星期三 18:23:48 CST
|
| 49 |
+
持续时间: 13秒
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| 50 |
+
状态: 成功
|
| 51 |
+
数据验证: 通过
|
| 52 |
+
数据目录: ./multi_sessions_20251119_182300/session_003
|
| 53 |
+
|
| 54 |
+
==========================================
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| 55 |
+
会话 4 信息:
|
| 56 |
+
==========================================
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| 57 |
+
开始时间: 2025年 11月 19日 星期三 18:23:52 CST
|
| 58 |
+
输出目录: ./multi_sessions_20251119_182300/session_004
|
| 59 |
+
结束时间: 2025年 11月 19日 星期三 18:24:04 CST
|
| 60 |
+
持续时间: 12秒
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| 61 |
+
状态: 成功
|
| 62 |
+
数据验证: 通过
|
| 63 |
+
数据目录: ./multi_sessions_20251119_182300/session_004
|
| 64 |
+
|
| 65 |
+
==========================================
|
| 66 |
+
会话 5 信息:
|
| 67 |
+
==========================================
|
| 68 |
+
开始时间: 2025年 11月 19日 星期三 18:24:08 CST
|
| 69 |
+
输出目录: ./multi_sessions_20251119_182300/session_005
|
| 70 |
+
结束时间: 2025年 11月 19日 星期三 18:24:22 CST
|
| 71 |
+
持续时间: 14秒
|
| 72 |
+
状态: 成功
|
| 73 |
+
数据验证: 通过
|
| 74 |
+
数据目录: ./multi_sessions_20251119_182300/session_005
|
| 75 |
+
|
| 76 |
+
==========================================
|
| 77 |
+
采集完成总结:
|
| 78 |
+
==========================================
|
| 79 |
+
完成时间: 2025年 11月 19日 星期三 18:24:22 CST
|
| 80 |
+
成功会话数: 5
|
| 81 |
+
失败会话数: 0
|
| 82 |
+
总计划会话数: 5
|
| 83 |
+
实际完成会话数: 5
|
| 84 |
+
成功率: 100%
|
| 85 |
+
|
| 86 |
+
数据目录结构:
|
| 87 |
+
./multi_sessions_20251119_182300/
|
| 88 |
+
├─ session_001/
|
| 89 |
+
├─ session_002/
|
| 90 |
+
├─ session_003/
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| 91 |
+
├─ session_004/
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| 92 |
+
├─ session_005/
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| 93 |
+
└─ collection_summary.txt
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multi_sessions_20251119_182300/session_001/Clamp_Data/clamp.csv
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@@ -0,0 +1,1414 @@
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158385.105354,87.60411039633226
|
| 1408 |
+
158385.110812,87.60411039633226
|
| 1409 |
+
158385.114972,87.60411039633226
|
| 1410 |
+
158385.11997,87.60411039633226
|
| 1411 |
+
158385.125156,87.60411039633226
|
| 1412 |
+
158385.129997,87.60411039633226
|
| 1413 |
+
158385.134971,87.60411039633226
|
| 1414 |
+
158385.143082,87.60411039633226
|
multi_sessions_20251119_182300/session_001/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1413 @@
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158384.515168000 87.58593345104586
|
| 1289 |
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158384.520077000 87.58593345104586
|
| 1290 |
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158384.527758000 87.58593345104586
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| 1291 |
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158384.530649000 87.58593345104586
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| 1292 |
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|
| 1293 |
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| 1294 |
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158384.546644000 87.58593345104586
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| 1295 |
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158384.550095000 87.58593345104586
|
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| 1297 |
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| 1298 |
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158384.565034000 87.58593345104586
|
| 1299 |
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|
| 1300 |
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158384.575091000 87.59502240189622
|
| 1301 |
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158384.580035000 87.59502240189622
|
| 1302 |
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158384.585038000 87.59502240189622
|
| 1303 |
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|
| 1304 |
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158384.596659000 87.59502240189622
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| 1305 |
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158384.600030000 87.58593345104586
|
| 1306 |
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158384.605181000 87.58593345104586
|
| 1307 |
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|
| 1308 |
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| 1309 |
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|
| 1310 |
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| 1311 |
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|
| 1312 |
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158384.635545000 87.59502240189622
|
| 1313 |
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158384.642402000 87.59502240189622
|
| 1314 |
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158384.645772000 87.59502240189622
|
| 1315 |
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158384.650883000 87.59502240189622
|
| 1316 |
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158384.655111000 87.59502240189622
|
| 1317 |
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158384.660030000 87.59502240189622
|
| 1318 |
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158384.665070000 87.59502240189622
|
| 1319 |
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158384.670470000 87.59502240189622
|
| 1320 |
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158384.675126000 87.59502240189622
|
| 1321 |
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158384.680971000 87.59502240189622
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| 1322 |
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158384.685033000 87.59502240189622
|
| 1323 |
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158384.692060000 87.59502240189622
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| 1324 |
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|
| 1325 |
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158384.700043000 87.59502240189622
|
| 1326 |
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158384.705166000 87.59502240189622
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| 1327 |
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| 1328 |
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158384.715058000 87.59502240189622
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| 1329 |
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| 1330 |
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| 1331 |
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158384.730050000 87.60411039633226
|
| 1332 |
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158384.735038000 87.59502240189622
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| 1333 |
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| 1334 |
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158384.746610000 87.59502240189622
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| 1335 |
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| 1337 |
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158384.759998000 87.59502240189622
|
| 1338 |
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158384.765001000 87.59502240189622
|
| 1339 |
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158384.770612000 87.59502240189622
|
| 1340 |
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158384.775106000 87.60411039633226
|
| 1341 |
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158384.780000000 87.59502240189622
|
| 1342 |
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158384.785027000 87.59502240189622
|
| 1343 |
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158384.791997000 87.59502240189622
|
| 1344 |
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158384.795591000 87.59502240189622
|
| 1345 |
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158384.800017000 87.59502240189622
|
| 1346 |
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158384.805256000 87.59502240189622
|
| 1347 |
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158384.810552000 87.59502240189622
|
| 1348 |
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158384.815047000 87.59502240189622
|
| 1349 |
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158384.819994000 87.59502240189622
|
| 1350 |
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158384.827044000 87.59502240189622
|
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158384.830591000 87.59502240189622
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| 1352 |
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158384.835002000 87.59502240189622
|
| 1353 |
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158384.842845000 87.59502240189622
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158384.846594000 87.59502240189622
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| 1355 |
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158384.850000000 87.59502240189622
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| 1356 |
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158384.855069000 87.59502240189622
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| 1357 |
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158384.860129000 87.59502240189622
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| 1358 |
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158384.865038000 87.59502240189622
|
| 1359 |
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|
| 1360 |
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158384.875034000 87.60411039633226
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158384.879998000 87.60411039633226
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| 1362 |
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158384.885000000 87.60411039633226
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| 1363 |
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158384.891215000 87.60411039633226
|
| 1364 |
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158384.894998000 87.60411039633226
|
| 1365 |
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158384.900331000 87.60411039633226
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| 1366 |
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| 1367 |
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158384.910432000 87.60411039633226
|
| 1368 |
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158384.914999000 87.60411039633226
|
| 1369 |
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158384.919993000 87.60411039633226
|
| 1370 |
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158384.926898000 87.60411039633226
|
| 1371 |
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158384.930582000 87.60411039633226
|
| 1372 |
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158384.935000000 87.60411039633226
|
| 1373 |
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158384.941985000 87.59502240189622
|
| 1374 |
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158384.945589000 87.60411039633226
|
| 1375 |
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158384.950003000 87.60411039633226
|
| 1376 |
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158384.955031000 87.60411039633226
|
| 1377 |
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158384.959973000 87.60411039633226
|
| 1378 |
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158384.964973000 87.60411039633226
|
| 1379 |
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158384.971403000 87.60411039633226
|
| 1380 |
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158384.975165000 87.60411039633226
|
| 1381 |
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158384.979973000 87.60411039633226
|
| 1382 |
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158384.984984000 87.60411039633226
|
| 1383 |
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158384.992344000 87.60411039633226
|
| 1384 |
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158384.995552000 87.60411039633226
|
| 1385 |
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158384.999996000 87.60411039633226
|
| 1386 |
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158385.005555000 87.60411039633226
|
| 1387 |
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158385.010790000 87.60411039633226
|
| 1388 |
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158385.014978000 87.60411039633226
|
| 1389 |
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|
| 1390 |
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158385.027106000 87.60411039633226
|
| 1391 |
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158385.030555000 87.60411039633226
|
| 1392 |
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158385.035392000 87.60411039633226
|
| 1393 |
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158385.042839000 87.60411039633226
|
| 1394 |
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158385.046548000 87.60411039633226
|
| 1395 |
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158385.049969000 87.60411039633226
|
| 1396 |
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158385.055597000 87.60411039633226
|
| 1397 |
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158385.059969000 87.60411039633226
|
| 1398 |
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158385.065049000 87.60411039633226
|
| 1399 |
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158385.070366000 87.60411039633226
|
| 1400 |
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158385.075206000 87.60411039633226
|
| 1401 |
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158385.080167000 87.60411039633226
|
| 1402 |
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158385.084993000 87.61319743423809
|
| 1403 |
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158385.092173000 87.61319743423809
|
| 1404 |
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158385.095558000 87.60411039633226
|
| 1405 |
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158385.100018000 87.60411039633226
|
| 1406 |
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158385.105354000 87.60411039633226
|
| 1407 |
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158385.110812000 87.60411039633226
|
| 1408 |
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158385.114972000 87.60411039633226
|
| 1409 |
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158385.119970000 87.60411039633226
|
| 1410 |
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158385.125156000 87.60411039633226
|
| 1411 |
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158385.129997000 87.60411039633226
|
| 1412 |
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158385.134971000 87.60411039633226
|
| 1413 |
+
158385.143082000 87.60411039633226
|
multi_sessions_20251119_182300/session_001/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
| 1 |
+
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
融合频率: 120 Hz
|
| 7 |
+
时间匹配阈值: 0.01 s
|
| 8 |
+
基准传感器: VIVE (100Hz)
|
| 9 |
+
辅助传感器: SLAM (500Hz)
|
| 10 |
+
|
| 11 |
+
融合策略:
|
| 12 |
+
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
+
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
+
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
+
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
+
|
| 17 |
+
融合结果统计:
|
| 18 |
+
总融合点数: 706
|
| 19 |
+
均值融合 (都低速): 706
|
| 20 |
+
使用SLAM (VIVE高速): 0
|
| 21 |
+
使用VIVE (SLAM高速): 0
|
| 22 |
+
都高速 (已跳过): 0
|
| 23 |
+
总跳过帧数: 0
|
| 24 |
+
|
| 25 |
+
策略分布:
|
| 26 |
+
均值融合: 100.0%
|
| 27 |
+
使用SLAM: 0.0%
|
| 28 |
+
使用VIVE: 0.0%
|
| 29 |
+
|
| 30 |
+
输出率统计:
|
| 31 |
+
输出率: 100.0%
|
| 32 |
+
跳过率: 0.0%
|
| 33 |
+
|
| 34 |
+
生成时间: 2025-11-19 18:23:12
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_182300/session_001/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_001/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_001/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,425 @@
|
|
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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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357,158384.025754
|
| 360 |
+
358,158384.045552
|
| 361 |
+
359,158384.058871
|
| 362 |
+
360,158384.080203
|
| 363 |
+
361,158384.091681
|
| 364 |
+
362,158384.109248
|
| 365 |
+
363,158384.126061
|
| 366 |
+
364,158384.142467
|
| 367 |
+
365,158384.158177
|
| 368 |
+
366,158384.179131
|
| 369 |
+
367,158384.192067
|
| 370 |
+
368,158384.212411
|
| 371 |
+
369,158384.226517
|
| 372 |
+
370,158384.24275
|
| 373 |
+
371,158384.258918
|
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372,158384.280096
|
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+
373,158384.291496
|
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+
374,158384.312406
|
| 377 |
+
375,158384.326575
|
| 378 |
+
376,158384.342437
|
| 379 |
+
377,158384.358551
|
| 380 |
+
378,158384.380323
|
| 381 |
+
379,158384.392689
|
| 382 |
+
380,158384.412651
|
| 383 |
+
381,158384.426551
|
| 384 |
+
382,158384.44507
|
| 385 |
+
383,158384.458758
|
| 386 |
+
384,158384.480085
|
| 387 |
+
385,158384.492364
|
| 388 |
+
386,158384.512749
|
| 389 |
+
387,158384.526602
|
| 390 |
+
388,158384.542421
|
| 391 |
+
389,158384.558467
|
| 392 |
+
390,158384.581867
|
| 393 |
+
391,158384.591648
|
| 394 |
+
392,158384.6124
|
| 395 |
+
393,158384.626589
|
| 396 |
+
394,158384.645048
|
| 397 |
+
395,158384.658714
|
| 398 |
+
396,158384.680035
|
| 399 |
+
397,158384.692229
|
| 400 |
+
398,158384.708689
|
| 401 |
+
399,158384.7247
|
| 402 |
+
400,158384.742431
|
| 403 |
+
401,158384.758444
|
| 404 |
+
402,158384.781584
|
| 405 |
+
403,158384.791297
|
| 406 |
+
404,158384.812465
|
| 407 |
+
405,158384.826419
|
| 408 |
+
406,158384.842142
|
| 409 |
+
407,158384.858859
|
| 410 |
+
408,158384.87581
|
| 411 |
+
409,158384.891398
|
| 412 |
+
410,158384.912217
|
| 413 |
+
411,158384.926332
|
| 414 |
+
412,158384.942488
|
| 415 |
+
413,158384.958371
|
| 416 |
+
414,158384.975239
|
| 417 |
+
415,158384.992648
|
| 418 |
+
416,158385.01272
|
| 419 |
+
417,158385.026056
|
| 420 |
+
418,158385.042131
|
| 421 |
+
419,158385.05828
|
| 422 |
+
420,158385.078657
|
| 423 |
+
421,158385.092466
|
| 424 |
+
422,158385.108753
|
| 425 |
+
423,158385.124567
|
multi_sessions_20251119_182300/session_001/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bbaa9b8501818d967f3b88d0f3f81a0e6035ff8ec6f8278ea09797c0cb72bcb5
|
| 3 |
+
size 3454733
|
multi_sessions_20251119_182300/session_001/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_001/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
|
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|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 158378.081463s
|
| 6 |
+
Vive 第一帧时间戳: 1763547783.967413s
|
| 7 |
+
计算的 offset: -1763389405.885950s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.885950
|
| 9 |
+
|
| 10 |
+
说明:
|
| 11 |
+
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
+
- 时间戳已与 SLAM 数据对齐
|
| 13 |
+
- 坐标已转换到 Gripper 坐标系
|
| 14 |
+
|
| 15 |
+
生成时间: 2025-11-19 18:23:12
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_182300/session_001/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_002/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1337 @@
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158400.912406,87.64953601824159
|
| 1216 |
+
158400.920223,87.64953601824159
|
| 1217 |
+
158400.923905,87.65861827175821
|
| 1218 |
+
158400.927324,87.65861827175821
|
| 1219 |
+
158400.932325,87.65861827175821
|
| 1220 |
+
158400.937735,87.65861827175821
|
| 1221 |
+
158400.942334,87.64953601824159
|
| 1222 |
+
158400.948462,87.64953601824159
|
| 1223 |
+
158400.952446,87.64953601824159
|
| 1224 |
+
158400.957331,87.64953601824159
|
| 1225 |
+
158400.962327,87.64953601824159
|
| 1226 |
+
158400.969541,87.65861827175821
|
| 1227 |
+
158400.972899,87.65861827175821
|
| 1228 |
+
158400.97733,87.65861827175821
|
| 1229 |
+
158400.982335,87.64953601824159
|
| 1230 |
+
158400.988477,87.64953601824159
|
| 1231 |
+
158400.992334,87.64953601824159
|
| 1232 |
+
158400.997298,87.64953601824159
|
| 1233 |
+
158401.004261,87.64953601824159
|
| 1234 |
+
158401.007873,87.64953601824159
|
| 1235 |
+
158401.01231,87.65861827175821
|
| 1236 |
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158401.020101,87.65861827175821
|
| 1237 |
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158401.023902,87.65861827175821
|
| 1238 |
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158401.027299,87.64953601824159
|
| 1239 |
+
158401.032303,87.64953601824159
|
| 1240 |
+
158401.037765,87.64953601824159
|
| 1241 |
+
158401.04231,87.65861827175821
|
| 1242 |
+
158401.048016,87.65861827175821
|
| 1243 |
+
158401.052357,87.65861827175821
|
| 1244 |
+
158401.057313,87.64953601824159
|
| 1245 |
+
158401.062302,87.65861827175821
|
| 1246 |
+
158401.069807,87.65861827175821
|
| 1247 |
+
158401.072871,87.65861827175821
|
| 1248 |
+
158401.077309,87.65861827175821
|
| 1249 |
+
158401.082309,87.65861827175821
|
| 1250 |
+
158401.087305,87.65861827175821
|
| 1251 |
+
158401.092304,87.65861827175821
|
| 1252 |
+
158401.097299,87.64953601824159
|
| 1253 |
+
158401.104147,87.65861827175821
|
| 1254 |
+
158401.107879,87.65861827175821
|
| 1255 |
+
158401.112308,87.65861827175821
|
| 1256 |
+
158401.120489,87.64953601824159
|
| 1257 |
+
158401.1239,87.64953601824159
|
| 1258 |
+
158401.127301,87.64953601824159
|
| 1259 |
+
158401.132302,87.65861827175821
|
| 1260 |
+
158401.137302,87.65861827175821
|
| 1261 |
+
158401.142312,87.65861827175821
|
| 1262 |
+
158401.147495,87.65861827175821
|
| 1263 |
+
158401.152413,87.65861827175821
|
| 1264 |
+
158401.157307,87.65861827175821
|
| 1265 |
+
158401.162316,87.65861827175821
|
| 1266 |
+
158401.167627,87.65861827175821
|
| 1267 |
+
158401.172301,87.65861827175821
|
| 1268 |
+
158401.177314,87.65861827175821
|
| 1269 |
+
158401.182307,87.65861827175821
|
| 1270 |
+
158401.188385,87.64953601824159
|
| 1271 |
+
158401.19231,87.65861827175821
|
| 1272 |
+
158401.197303,87.65861827175821
|
| 1273 |
+
158401.204177,87.66769956804939
|
| 1274 |
+
158401.207848,87.65861827175821
|
| 1275 |
+
158401.212283,87.65861827175821
|
| 1276 |
+
158401.220154,87.65861827175821
|
| 1277 |
+
158401.223861,87.65861827175821
|
| 1278 |
+
158401.227276,87.65861827175821
|
| 1279 |
+
158401.232343,87.65861827175821
|
| 1280 |
+
158401.237277,87.65861827175821
|
| 1281 |
+
158401.242306,87.65861827175821
|
| 1282 |
+
158401.247272,87.65861827175821
|
| 1283 |
+
158401.253247,87.65861827175821
|
| 1284 |
+
158401.257285,87.66769956804939
|
| 1285 |
+
158401.262277,87.66769956804939
|
| 1286 |
+
158401.268717,87.65861827175821
|
| 1287 |
+
158401.27228,87.65861827175821
|
| 1288 |
+
158401.277278,87.65861827175821
|
| 1289 |
+
158401.282385,87.65861827175821
|
| 1290 |
+
158401.288048,87.66769956804939
|
| 1291 |
+
158401.29233,87.66769956804939
|
| 1292 |
+
158401.297281,87.66769956804939
|
| 1293 |
+
158401.304019,87.66769956804939
|
| 1294 |
+
158401.307274,87.66769956804939
|
| 1295 |
+
158401.312286,87.66769956804939
|
| 1296 |
+
158401.32019,87.66769956804939
|
| 1297 |
+
158401.323915,87.66769956804939
|
| 1298 |
+
158401.327275,87.66769956804939
|
| 1299 |
+
158401.332277,87.66769956804939
|
| 1300 |
+
158401.337278,87.66769956804939
|
| 1301 |
+
158401.342283,87.66769956804939
|
| 1302 |
+
158401.347421,87.66769956804939
|
| 1303 |
+
158401.352434,87.66769956804939
|
| 1304 |
+
158401.357284,87.66769956804939
|
| 1305 |
+
158401.362298,87.66769956804939
|
| 1306 |
+
158401.367785,87.66769956804939
|
| 1307 |
+
158401.372277,87.66769956804939
|
| 1308 |
+
158401.377276,87.66769956804939
|
| 1309 |
+
158401.382316,87.66769956804939
|
| 1310 |
+
158401.387297,87.66769956804939
|
| 1311 |
+
158401.392299,87.66769956804939
|
| 1312 |
+
158401.397302,87.67677990699939
|
| 1313 |
+
158401.404249,87.67677990699939
|
| 1314 |
+
158401.407813,87.67677990699939
|
| 1315 |
+
158401.412318,87.67677990699939
|
| 1316 |
+
158401.417517,87.67677990699939
|
| 1317 |
+
158401.422975,87.67677990699939
|
| 1318 |
+
158401.427242,87.67677990699939
|
| 1319 |
+
158401.432271,87.67677990699939
|
| 1320 |
+
158401.437535,87.67677990699939
|
| 1321 |
+
158401.442251,87.67677990699939
|
| 1322 |
+
158401.448002,87.67677990699939
|
| 1323 |
+
158401.45239,87.67677990699939
|
| 1324 |
+
158401.457257,87.67677990699939
|
| 1325 |
+
158401.462242,87.67677990699939
|
| 1326 |
+
158401.470611,87.67677990699939
|
| 1327 |
+
158401.473815,87.67677990699939
|
| 1328 |
+
158401.477255,87.67677990699939
|
| 1329 |
+
158401.482287,87.67677990699939
|
| 1330 |
+
158401.487909,87.67677990699939
|
| 1331 |
+
158401.492243,87.67677990699939
|
| 1332 |
+
158401.49724,87.67677990699939
|
| 1333 |
+
158401.503925,87.67677990699939
|
| 1334 |
+
158401.507244,87.67677990699939
|
| 1335 |
+
158401.512244,87.67677990699939
|
| 1336 |
+
158401.517297,87.67677990699939
|
| 1337 |
+
158401.522279,87.67677990699939
|
multi_sessions_20251119_182300/session_002/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1336 @@
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| 1 |
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| 2 |
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| 11 |
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| 12 |
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| 13 |
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| 15 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 1215 |
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| 1234 |
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| 1239 |
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|
| 1240 |
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158401.042310000 87.65861827175821
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| 1241 |
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| 1242 |
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158401.052357000 87.65861827175821
|
| 1243 |
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158401.057313000 87.64953601824159
|
| 1244 |
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158401.062302000 87.65861827175821
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| 1245 |
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158401.069807000 87.65861827175821
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| 1246 |
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|
| 1247 |
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158401.077309000 87.65861827175821
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| 1248 |
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| 1249 |
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|
| 1250 |
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158401.092304000 87.65861827175821
|
| 1251 |
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| 1252 |
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| 1256 |
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| 1257 |
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| 1264 |
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| 1265 |
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|
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|
| 1268 |
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158401.182307000 87.65861827175821
|
| 1269 |
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158401.188385000 87.64953601824159
|
| 1270 |
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|
| 1271 |
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|
| 1272 |
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|
| 1280 |
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|
| 1281 |
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| 1282 |
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| 1284 |
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158401.268717000 87.65861827175821
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158401.272280000 87.65861827175821
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| 1287 |
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| 1288 |
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| 1289 |
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| 1290 |
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158401.292330000 87.66769956804939
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| 1291 |
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|
| 1292 |
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|
| 1293 |
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158401.307274000 87.66769956804939
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| 1294 |
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|
| 1295 |
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|
| 1296 |
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|
| 1297 |
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158401.327275000 87.66769956804939
|
| 1298 |
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|
| 1299 |
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|
| 1300 |
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158401.342283000 87.66769956804939
|
| 1301 |
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158401.347421000 87.66769956804939
|
| 1302 |
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|
| 1303 |
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|
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|
| 1305 |
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|
| 1306 |
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|
| 1307 |
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|
| 1308 |
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|
| 1309 |
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|
| 1310 |
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|
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|
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|
| 1313 |
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|
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|
| 1315 |
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|
| 1316 |
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|
| 1317 |
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|
| 1318 |
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158401.432271000 87.67677990699939
|
| 1319 |
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158401.437535000 87.67677990699939
|
| 1320 |
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158401.442251000 87.67677990699939
|
| 1321 |
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|
| 1322 |
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158401.452390000 87.67677990699939
|
| 1323 |
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158401.457257000 87.67677990699939
|
| 1324 |
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158401.462242000 87.67677990699939
|
| 1325 |
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|
| 1326 |
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|
| 1327 |
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158401.477255000 87.67677990699939
|
| 1328 |
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158401.482287000 87.67677990699939
|
| 1329 |
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158401.487909000 87.67677990699939
|
| 1330 |
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158401.492243000 87.67677990699939
|
| 1331 |
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158401.497240000 87.67677990699939
|
| 1332 |
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158401.503925000 87.67677990699939
|
| 1333 |
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158401.507244000 87.67677990699939
|
| 1334 |
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158401.512244000 87.67677990699939
|
| 1335 |
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158401.517297000 87.67677990699939
|
| 1336 |
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158401.522279000 87.67677990699939
|
multi_sessions_20251119_182300/session_002/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
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|
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|
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|
|
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|
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|
|
| 1 |
+
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: 667
|
| 19 |
+
均值融合 (都低速): 667
|
| 20 |
+
使用SLAM (VIVE高速): 0
|
| 21 |
+
使用VIVE (SLAM高速): 0
|
| 22 |
+
都高速 (已跳过): 0
|
| 23 |
+
总跳过帧数: 0
|
| 24 |
+
|
| 25 |
+
策略分布:
|
| 26 |
+
均值融合: 100.0%
|
| 27 |
+
使用SLAM: 0.0%
|
| 28 |
+
使用VIVE: 0.0%
|
| 29 |
+
|
| 30 |
+
输出率统计:
|
| 31 |
+
输出率: 100.0%
|
| 32 |
+
跳过率: 0.0%
|
| 33 |
+
|
| 34 |
+
生成时间: 2025-11-19 18:23:28
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_182300/session_002/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_002/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_002/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,402 @@
|
|
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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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|
|
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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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|
| 303 |
+
301,158399.85309
|
| 304 |
+
302,158399.870236
|
| 305 |
+
303,158399.886942
|
| 306 |
+
304,158399.904697
|
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+
305,158399.92001
|
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+
306,158399.943035
|
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307,158399.953351
|
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308,158399.971835
|
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+
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|
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310,158400.004829
|
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311,158400.020322
|
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312,158400.036893
|
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313,158400.053121
|
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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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344,158400.570256
|
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|
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|
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|
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348,158400.636882
|
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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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356,158400.77028
|
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|
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358,158400.804632
|
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359,158400.819472
|
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360,158400.8369
|
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361,158400.853045
|
| 364 |
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362,158400.870003
|
| 365 |
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363,158400.886005
|
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364,158400.903591
|
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365,158400.919743
|
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366,158400.936462
|
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367,158400.952712
|
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368,158400.969779
|
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|
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370,158401.003631
|
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371,158401.019474
|
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372,158401.036262
|
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373,158401.053117
|
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374,158401.070074
|
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375,158401.085948
|
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376,158401.104456
|
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+
377,158401.119795
|
| 380 |
+
378,158401.136568
|
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+
379,158401.152669
|
| 382 |
+
380,158401.169852
|
| 383 |
+
381,158401.186497
|
| 384 |
+
382,158401.204636
|
| 385 |
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383,158401.219553
|
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384,158401.242482
|
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385,158401.253283
|
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386,158401.27017
|
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387,158401.285867
|
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388,158401.304499
|
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389,158401.31963
|
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+
390,158401.336541
|
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391,158401.352656
|
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392,158401.369883
|
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393,158401.386566
|
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394,158401.404683
|
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+
395,158401.419853
|
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+
396,158401.436205
|
| 399 |
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397,158401.452616
|
| 400 |
+
398,158401.469999
|
| 401 |
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399,158401.485798
|
| 402 |
+
400,158401.503106
|
multi_sessions_20251119_182300/session_002/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b7039b4b7e751bddb9db997fd8655aa3fe89e79fc1b10d4417aecdc99846a1ad
|
| 3 |
+
size 3099033
|
multi_sessions_20251119_182300/session_002/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_002/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
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|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 158394.849461s
|
| 6 |
+
Vive 第一帧时间戳: 1763547800.727399s
|
| 7 |
+
计算的 offset: -1763389405.877938s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.877938
|
| 9 |
+
|
| 10 |
+
说明:
|
| 11 |
+
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
+
- 时间戳已与 SLAM 数据对齐
|
| 13 |
+
- 坐标已转换到 Gripper 坐标系
|
| 14 |
+
|
| 15 |
+
生成时间: 2025-11-19 18:23:28
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_182300/session_002/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_003/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1486 @@
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158417.165074,87.65861827175821
|
| 1389 |
+
158417.169706,87.65861827175821
|
| 1390 |
+
158417.174703,87.65861827175821
|
| 1391 |
+
158417.182581,87.65861827175821
|
| 1392 |
+
158417.18628,87.65861827175821
|
| 1393 |
+
158417.189708,87.65861827175821
|
| 1394 |
+
158417.19501,87.65861827175821
|
| 1395 |
+
158417.19988,87.66769956804939
|
| 1396 |
+
158417.205365,87.66769956804939
|
| 1397 |
+
158417.20971,87.66769956804939
|
| 1398 |
+
158417.215263,87.66769956804939
|
| 1399 |
+
158417.21976,87.65861827175821
|
| 1400 |
+
158417.225614,87.65861827175821
|
| 1401 |
+
158417.229878,87.65861827175821
|
| 1402 |
+
158417.234709,87.65861827175821
|
| 1403 |
+
158417.239777,87.65861827175821
|
| 1404 |
+
158417.247578,87.65861827175821
|
| 1405 |
+
158417.251258,87.65861827175821
|
| 1406 |
+
158417.25468,87.65861827175821
|
| 1407 |
+
158417.259745,87.65861827175821
|
| 1408 |
+
158417.265041,87.65861827175821
|
| 1409 |
+
158417.269681,87.65861827175821
|
| 1410 |
+
158417.27468,87.65861827175821
|
| 1411 |
+
158417.281846,87.65861827175821
|
| 1412 |
+
158417.285262,87.65861827175821
|
| 1413 |
+
158417.289724,87.65861827175821
|
| 1414 |
+
158417.294729,87.65861827175821
|
| 1415 |
+
158417.300604,87.65861827175821
|
| 1416 |
+
158417.304684,87.65861827175821
|
| 1417 |
+
158417.30968,87.65861827175821
|
| 1418 |
+
158417.314944,87.65861827175821
|
| 1419 |
+
158417.319688,87.65861827175821
|
| 1420 |
+
158417.325274,87.65861827175821
|
| 1421 |
+
158417.329796,87.65861827175821
|
| 1422 |
+
158417.334764,87.65861827175821
|
| 1423 |
+
158417.339877,87.65861827175821
|
| 1424 |
+
158417.34536,87.65861827175821
|
| 1425 |
+
158417.350469,87.65861827175821
|
| 1426 |
+
158417.354682,87.65861827175821
|
| 1427 |
+
158417.359682,87.64953601824159
|
| 1428 |
+
158417.365164,87.65861827175821
|
| 1429 |
+
158417.370078,87.65861827175821
|
| 1430 |
+
158417.37468,87.65861827175821
|
| 1431 |
+
158417.383136,87.65861827175821
|
| 1432 |
+
158417.386261,87.65861827175821
|
| 1433 |
+
158417.389695,87.65861827175821
|
| 1434 |
+
158417.394954,87.65861827175821
|
| 1435 |
+
158417.399888,87.65861827175821
|
| 1436 |
+
158417.405556,87.65861827175821
|
| 1437 |
+
158417.409689,87.65861827175821
|
| 1438 |
+
158417.415218,87.65861827175821
|
| 1439 |
+
158417.419687,87.65861827175821
|
| 1440 |
+
158417.425095,87.65861827175821
|
| 1441 |
+
158417.43132,87.65861827175821
|
| 1442 |
+
158417.434681,87.65861827175821
|
| 1443 |
+
158417.43974,87.65861827175821
|
| 1444 |
+
158417.447581,87.65861827175821
|
| 1445 |
+
158417.451281,87.65861827175821
|
| 1446 |
+
158417.454653,87.65861827175821
|
| 1447 |
+
158417.459768,87.65861827175821
|
| 1448 |
+
158417.46481,87.65861827175821
|
| 1449 |
+
158417.469655,87.65861827175821
|
| 1450 |
+
158417.474652,87.65861827175821
|
| 1451 |
+
158417.482605,87.65861827175821
|
| 1452 |
+
158417.486233,87.64953601824159
|
| 1453 |
+
158417.48982,87.65861827175821
|
| 1454 |
+
158417.495092,87.64953601824159
|
| 1455 |
+
158417.500021,87.65861827175821
|
| 1456 |
+
158417.505354,87.65861827175821
|
| 1457 |
+
158417.510291,87.65861827175821
|
| 1458 |
+
158417.515136,87.65861827175821
|
| 1459 |
+
158417.519661,87.65861827175821
|
| 1460 |
+
158417.525385,87.65861827175821
|
| 1461 |
+
158417.529809,87.65861827175821
|
| 1462 |
+
158417.534655,87.65861827175821
|
| 1463 |
+
158417.539663,87.65861827175821
|
| 1464 |
+
158417.545671,87.65861827175821
|
| 1465 |
+
158417.549663,87.65861827175821
|
| 1466 |
+
158417.554654,87.65861827175821
|
| 1467 |
+
158417.559757,87.65861827175821
|
| 1468 |
+
158417.56535,87.65861827175821
|
| 1469 |
+
158417.569653,87.65861827175821
|
| 1470 |
+
158417.574688,87.65861827175821
|
| 1471 |
+
158417.581867,87.65861827175821
|
| 1472 |
+
158417.585243,87.65861827175821
|
| 1473 |
+
158417.589859,87.65861827175821
|
| 1474 |
+
158417.594865,87.65861827175821
|
| 1475 |
+
158417.600126,87.65861827175821
|
| 1476 |
+
158417.605939,87.65861827175821
|
| 1477 |
+
158417.609659,87.65861827175821
|
| 1478 |
+
158417.614757,87.65861827175821
|
| 1479 |
+
158417.619757,87.65861827175821
|
| 1480 |
+
158417.624702,87.64953601824159
|
| 1481 |
+
158417.630863,87.64953601824159
|
| 1482 |
+
158417.634662,87.65861827175821
|
| 1483 |
+
158417.640026,87.65861827175821
|
| 1484 |
+
158417.646531,87.65861827175821
|
| 1485 |
+
158417.650199,87.65861827175821
|
| 1486 |
+
158417.654628,87.65861827175821
|
multi_sessions_20251119_182300/session_003/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1485 @@
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158417.195010000 87.65861827175821
|
| 1394 |
+
158417.199880000 87.66769956804939
|
| 1395 |
+
158417.205365000 87.66769956804939
|
| 1396 |
+
158417.209710000 87.66769956804939
|
| 1397 |
+
158417.215263000 87.66769956804939
|
| 1398 |
+
158417.219760000 87.65861827175821
|
| 1399 |
+
158417.225614000 87.65861827175821
|
| 1400 |
+
158417.229878000 87.65861827175821
|
| 1401 |
+
158417.234709000 87.65861827175821
|
| 1402 |
+
158417.239777000 87.65861827175821
|
| 1403 |
+
158417.247578000 87.65861827175821
|
| 1404 |
+
158417.251258000 87.65861827175821
|
| 1405 |
+
158417.254680000 87.65861827175821
|
| 1406 |
+
158417.259745000 87.65861827175821
|
| 1407 |
+
158417.265041000 87.65861827175821
|
| 1408 |
+
158417.269681000 87.65861827175821
|
| 1409 |
+
158417.274680000 87.65861827175821
|
| 1410 |
+
158417.281846000 87.65861827175821
|
| 1411 |
+
158417.285262000 87.65861827175821
|
| 1412 |
+
158417.289724000 87.65861827175821
|
| 1413 |
+
158417.294729000 87.65861827175821
|
| 1414 |
+
158417.300604000 87.65861827175821
|
| 1415 |
+
158417.304684000 87.65861827175821
|
| 1416 |
+
158417.309680000 87.65861827175821
|
| 1417 |
+
158417.314944000 87.65861827175821
|
| 1418 |
+
158417.319688000 87.65861827175821
|
| 1419 |
+
158417.325274000 87.65861827175821
|
| 1420 |
+
158417.329796000 87.65861827175821
|
| 1421 |
+
158417.334764000 87.65861827175821
|
| 1422 |
+
158417.339877000 87.65861827175821
|
| 1423 |
+
158417.345360000 87.65861827175821
|
| 1424 |
+
158417.350469000 87.65861827175821
|
| 1425 |
+
158417.354682000 87.65861827175821
|
| 1426 |
+
158417.359682000 87.64953601824159
|
| 1427 |
+
158417.365164000 87.65861827175821
|
| 1428 |
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158417.370078000 87.65861827175821
|
| 1429 |
+
158417.374680000 87.65861827175821
|
| 1430 |
+
158417.383136000 87.65861827175821
|
| 1431 |
+
158417.386261000 87.65861827175821
|
| 1432 |
+
158417.389695000 87.65861827175821
|
| 1433 |
+
158417.394954000 87.65861827175821
|
| 1434 |
+
158417.399888000 87.65861827175821
|
| 1435 |
+
158417.405556000 87.65861827175821
|
| 1436 |
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158417.409689000 87.65861827175821
|
| 1437 |
+
158417.415218000 87.65861827175821
|
| 1438 |
+
158417.419687000 87.65861827175821
|
| 1439 |
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158417.425095000 87.65861827175821
|
| 1440 |
+
158417.431320000 87.65861827175821
|
| 1441 |
+
158417.434681000 87.65861827175821
|
| 1442 |
+
158417.439740000 87.65861827175821
|
| 1443 |
+
158417.447581000 87.65861827175821
|
| 1444 |
+
158417.451281000 87.65861827175821
|
| 1445 |
+
158417.454653000 87.65861827175821
|
| 1446 |
+
158417.459768000 87.65861827175821
|
| 1447 |
+
158417.464810000 87.65861827175821
|
| 1448 |
+
158417.469655000 87.65861827175821
|
| 1449 |
+
158417.474652000 87.65861827175821
|
| 1450 |
+
158417.482605000 87.65861827175821
|
| 1451 |
+
158417.486233000 87.64953601824159
|
| 1452 |
+
158417.489820000 87.65861827175821
|
| 1453 |
+
158417.495092000 87.64953601824159
|
| 1454 |
+
158417.500021000 87.65861827175821
|
| 1455 |
+
158417.505354000 87.65861827175821
|
| 1456 |
+
158417.510291000 87.65861827175821
|
| 1457 |
+
158417.515136000 87.65861827175821
|
| 1458 |
+
158417.519661000 87.65861827175821
|
| 1459 |
+
158417.525385000 87.65861827175821
|
| 1460 |
+
158417.529809000 87.65861827175821
|
| 1461 |
+
158417.534655000 87.65861827175821
|
| 1462 |
+
158417.539663000 87.65861827175821
|
| 1463 |
+
158417.545671000 87.65861827175821
|
| 1464 |
+
158417.549663000 87.65861827175821
|
| 1465 |
+
158417.554654000 87.65861827175821
|
| 1466 |
+
158417.559757000 87.65861827175821
|
| 1467 |
+
158417.565350000 87.65861827175821
|
| 1468 |
+
158417.569653000 87.65861827175821
|
| 1469 |
+
158417.574688000 87.65861827175821
|
| 1470 |
+
158417.581867000 87.65861827175821
|
| 1471 |
+
158417.585243000 87.65861827175821
|
| 1472 |
+
158417.589859000 87.65861827175821
|
| 1473 |
+
158417.594865000 87.65861827175821
|
| 1474 |
+
158417.600126000 87.65861827175821
|
| 1475 |
+
158417.605939000 87.65861827175821
|
| 1476 |
+
158417.609659000 87.65861827175821
|
| 1477 |
+
158417.614757000 87.65861827175821
|
| 1478 |
+
158417.619757000 87.65861827175821
|
| 1479 |
+
158417.624702000 87.64953601824159
|
| 1480 |
+
158417.630863000 87.64953601824159
|
| 1481 |
+
158417.634662000 87.65861827175821
|
| 1482 |
+
158417.640026000 87.65861827175821
|
| 1483 |
+
158417.646531000 87.65861827175821
|
| 1484 |
+
158417.650199000 87.65861827175821
|
| 1485 |
+
158417.654628000 87.65861827175821
|
multi_sessions_20251119_182300/session_003/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
融合频率: 120 Hz
|
| 7 |
+
时间匹配阈值: 0.01 s
|
| 8 |
+
基准传感器: VIVE (100Hz)
|
| 9 |
+
辅助传感器: SLAM (500Hz)
|
| 10 |
+
|
| 11 |
+
融合策略:
|
| 12 |
+
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
+
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
+
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
+
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
+
|
| 17 |
+
融合结果统计:
|
| 18 |
+
总融合点数: 742
|
| 19 |
+
均值融合 (都低速): 742
|
| 20 |
+
使用SLAM (VIVE高速): 0
|
| 21 |
+
使用VIVE (SLAM高速): 0
|
| 22 |
+
都高速 (已跳过): 0
|
| 23 |
+
总跳过帧数: 0
|
| 24 |
+
|
| 25 |
+
策略分布:
|
| 26 |
+
均值融合: 100.0%
|
| 27 |
+
使用SLAM: 0.0%
|
| 28 |
+
使用VIVE: 0.0%
|
| 29 |
+
|
| 30 |
+
输出率统计:
|
| 31 |
+
输出率: 100.0%
|
| 32 |
+
跳过率: 0.0%
|
| 33 |
+
|
| 34 |
+
生成时间: 2025-11-19 18:23:45
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_182300/session_003/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_003/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_003/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,446 @@
|
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|
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|
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| 376 |
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374,158416.467382
|
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+
375,158416.482533
|
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376,158416.499081
|
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377,158416.514501
|
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+
378,158416.532762
|
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379,158416.548346
|
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380,158416.56729
|
| 383 |
+
381,158416.582607
|
| 384 |
+
382,158416.597745
|
| 385 |
+
383,158416.614792
|
| 386 |
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384,158416.631465
|
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+
385,158416.647781
|
| 388 |
+
386,158416.667194
|
| 389 |
+
387,158416.682474
|
| 390 |
+
388,158416.698205
|
| 391 |
+
389,158416.714755
|
| 392 |
+
390,158416.730852
|
| 393 |
+
391,158416.748232
|
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+
392,158416.767225
|
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+
393,158416.781916
|
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+
394,158416.79767
|
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395,158416.814864
|
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396,158416.831547
|
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397,158416.84807
|
| 400 |
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398,158416.866985
|
| 401 |
+
399,158416.882372
|
| 402 |
+
400,158416.897811
|
| 403 |
+
401,158416.914471
|
| 404 |
+
402,158416.930813
|
| 405 |
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403,158416.947939
|
| 406 |
+
404,158416.967223
|
| 407 |
+
405,158416.981958
|
| 408 |
+
406,158417.002396
|
| 409 |
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407,158417.014924
|
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408,158417.031465
|
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409,158417.047984
|
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+
410,158417.067043
|
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+
411,158417.081904
|
| 414 |
+
412,158417.09791
|
| 415 |
+
413,158417.114304
|
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+
414,158417.133366
|
| 417 |
+
415,158417.148233
|
| 418 |
+
416,158417.167216
|
| 419 |
+
417,158417.181778
|
| 420 |
+
418,158417.202685
|
| 421 |
+
419,158417.214609
|
| 422 |
+
420,158417.232615
|
| 423 |
+
421,158417.247845
|
| 424 |
+
422,158417.26397
|
| 425 |
+
423,158417.281065
|
| 426 |
+
424,158417.297814
|
| 427 |
+
425,158417.314296
|
| 428 |
+
426,158417.331088
|
| 429 |
+
427,158417.348391
|
| 430 |
+
428,158417.368784
|
| 431 |
+
429,158417.381654
|
| 432 |
+
430,158417.402488
|
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431,158417.414566
|
| 434 |
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432,158417.431367
|
| 435 |
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433,158417.447859
|
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+
434,158417.466963
|
| 437 |
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435,158417.482051
|
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436,158417.502389
|
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+
437,158417.51451
|
| 440 |
+
438,158417.531112
|
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+
439,158417.549148
|
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440,158417.564084
|
| 443 |
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441,158417.581283
|
| 444 |
+
442,158417.597765
|
| 445 |
+
443,158417.614122
|
| 446 |
+
444,158417.630917
|
multi_sessions_20251119_182300/session_003/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:33867bb5e4d7cc03ba1b6a2dde3024d0088a3ee39b67e95e7ed548a2b73d604b
|
| 3 |
+
size 3443158
|
multi_sessions_20251119_182300/session_003/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_003/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
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|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 158410.235457s
|
| 6 |
+
Vive 第一帧时间戳: 1763547816.117427s
|
| 7 |
+
计算的 offset: -1763389405.881970s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.881970
|
| 9 |
+
|
| 10 |
+
说明:
|
| 11 |
+
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
+
- 时间戳已与 SLAM 数据对齐
|
| 13 |
+
- 坐标已转换到 Gripper 坐标系
|
| 14 |
+
|
| 15 |
+
生成时间: 2025-11-19 18:23:45
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_182300/session_003/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_004/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1383 @@
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| 1 |
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timestamp,clamp
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| 2 |
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|
| 1350 |
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| 1351 |
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158434.032038,87.53137966773579
|
| 1352 |
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158434.037039,87.53137966773579
|
| 1353 |
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158434.044059,87.53137966773579
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| 1354 |
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158434.047693,87.52228402523176
|
| 1355 |
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|
| 1356 |
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| 1357 |
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| 1358 |
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|
| 1359 |
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158434.07229,87.53137966773579
|
| 1360 |
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|
| 1361 |
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|
| 1362 |
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158434.087036,87.53137966773579
|
| 1363 |
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158434.092862,87.53137966773579
|
| 1364 |
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|
| 1365 |
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|
| 1366 |
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|
| 1367 |
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158434.112669,87.52228402523176
|
| 1368 |
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|
| 1369 |
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158434.123702,87.53137966773579
|
| 1370 |
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158434.127037,87.52228402523176
|
| 1371 |
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|
| 1372 |
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158434.137035,87.52228402523176
|
| 1373 |
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|
| 1374 |
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158434.147016,87.52228402523176
|
| 1375 |
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|
| 1376 |
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158434.157034,87.52228402523176
|
| 1377 |
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158434.163231,87.52228402523176
|
| 1378 |
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158434.167068,87.52228402523176
|
| 1379 |
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158434.17211,87.52228402523176
|
| 1380 |
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158434.177023,87.52228402523176
|
| 1381 |
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158434.182039,87.52228402523176
|
| 1382 |
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158434.187007,87.52228402523176
|
| 1383 |
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158434.19288,87.52228402523176
|
multi_sessions_20251119_182300/session_004/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1382 @@
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+
158433.897119000 87.54047435463723
|
| 1324 |
+
158433.902407000 87.54047435463723
|
| 1325 |
+
158433.909006000 87.53137966773579
|
| 1326 |
+
158433.912644000 87.53137966773579
|
| 1327 |
+
158433.917151000 87.53137966773579
|
| 1328 |
+
158433.923439000 87.53137966773579
|
| 1329 |
+
158433.927067000 87.53137966773579
|
| 1330 |
+
158433.932066000 87.53137966773579
|
| 1331 |
+
158433.937330000 87.53137966773579
|
| 1332 |
+
158433.943686000 87.53137966773579
|
| 1333 |
+
158433.947059000 87.53137966773579
|
| 1334 |
+
158433.952036000 87.53137966773579
|
| 1335 |
+
158433.957265000 87.53137966773579
|
| 1336 |
+
158433.963219000 87.53137966773579
|
| 1337 |
+
158433.967071000 87.53137966773579
|
| 1338 |
+
158433.972060000 87.54047435463723
|
| 1339 |
+
158433.977093000 87.54047435463723
|
| 1340 |
+
158433.982087000 87.54047435463723
|
| 1341 |
+
158433.987037000 87.53137966773579
|
| 1342 |
+
158433.992922000 87.53137966773579
|
| 1343 |
+
158433.997046000 87.52228402523176
|
| 1344 |
+
158434.002512000 87.52228402523176
|
| 1345 |
+
158434.008786000 87.53137966773579
|
| 1346 |
+
158434.012611000 87.53137966773579
|
| 1347 |
+
158434.017037000 87.53137966773579
|
| 1348 |
+
158434.023025000 87.52228402523176
|
| 1349 |
+
158434.027037000 87.52228402523176
|
| 1350 |
+
158434.032038000 87.53137966773579
|
| 1351 |
+
158434.037039000 87.53137966773579
|
| 1352 |
+
158434.044059000 87.53137966773579
|
| 1353 |
+
158434.047693000 87.52228402523176
|
| 1354 |
+
158434.052034000 87.52228402523176
|
| 1355 |
+
158434.057311000 87.52228402523176
|
| 1356 |
+
158434.063066000 87.53137966773579
|
| 1357 |
+
158434.067034000 87.53137966773579
|
| 1358 |
+
158434.072290000 87.53137966773579
|
| 1359 |
+
158434.078201000 87.52228402523176
|
| 1360 |
+
158434.082049000 87.52228402523176
|
| 1361 |
+
158434.087036000 87.53137966773579
|
| 1362 |
+
158434.092862000 87.53137966773579
|
| 1363 |
+
158434.097045000 87.52228402523176
|
| 1364 |
+
158434.102160000 87.52228402523176
|
| 1365 |
+
158434.108788000 87.52228402523176
|
| 1366 |
+
158434.112669000 87.52228402523176
|
| 1367 |
+
158434.117046000 87.52228402523176
|
| 1368 |
+
158434.123702000 87.53137966773579
|
| 1369 |
+
158434.127037000 87.52228402523176
|
| 1370 |
+
158434.132035000 87.52228402523176
|
| 1371 |
+
158434.137035000 87.52228402523176
|
| 1372 |
+
158434.143667000 87.53137966773579
|
| 1373 |
+
158434.147016000 87.52228402523176
|
| 1374 |
+
158434.152006000 87.52228402523176
|
| 1375 |
+
158434.157034000 87.52228402523176
|
| 1376 |
+
158434.163231000 87.52228402523176
|
| 1377 |
+
158434.167068000 87.52228402523176
|
| 1378 |
+
158434.172110000 87.52228402523176
|
| 1379 |
+
158434.177023000 87.52228402523176
|
| 1380 |
+
158434.182039000 87.52228402523176
|
| 1381 |
+
158434.187007000 87.52228402523176
|
| 1382 |
+
158434.192880000 87.52228402523176
|
multi_sessions_20251119_182300/session_004/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
| 1 |
+
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: 691
|
| 19 |
+
均值融合 (都低速): 691
|
| 20 |
+
使用SLAM (VIVE高速): 0
|
| 21 |
+
使用VIVE (SLAM高速): 0
|
| 22 |
+
都高速 (已跳过): 0
|
| 23 |
+
总跳过帧数: 0
|
| 24 |
+
|
| 25 |
+
策略分布:
|
| 26 |
+
均值融合: 100.0%
|
| 27 |
+
使用SLAM: 0.0%
|
| 28 |
+
使用VIVE: 0.0%
|
| 29 |
+
|
| 30 |
+
输出率统计:
|
| 31 |
+
输出率: 100.0%
|
| 32 |
+
跳过率: 0.0%
|
| 33 |
+
|
| 34 |
+
生成时间: 2025-11-19 18:24:01
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_182300/session_004/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_004/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_004/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,416 @@
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
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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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|
|
|
|
|
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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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|
|
|
|
|
|
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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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|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
| 1 |
+
frame_index,timestamp
|
| 2 |
+
0,158427.278815
|
| 3 |
+
1,158427.294219
|
| 4 |
+
2,158427.311159
|
| 5 |
+
3,158427.329834
|
| 6 |
+
4,158427.344374
|
| 7 |
+
5,158427.360893
|
| 8 |
+
6,158427.377385
|
| 9 |
+
7,158427.394919
|
| 10 |
+
8,158427.411334
|
| 11 |
+
9,158427.429368
|
| 12 |
+
10,158427.444037
|
| 13 |
+
11,158427.464176
|
| 14 |
+
12,158427.477967
|
| 15 |
+
13,158427.494623
|
| 16 |
+
14,158427.511056
|
| 17 |
+
15,158427.528927
|
| 18 |
+
16,158427.544405
|
| 19 |
+
17,158427.563091
|
| 20 |
+
18,158427.577372
|
| 21 |
+
19,158427.594833
|
| 22 |
+
20,158427.611388
|
| 23 |
+
21,158427.629393
|
| 24 |
+
22,158427.643978
|
| 25 |
+
23,158427.663178
|
| 26 |
+
24,158427.678794
|
| 27 |
+
25,158427.694085
|
| 28 |
+
26,158427.710998
|
| 29 |
+
27,158427.728688
|
| 30 |
+
28,158427.745385
|
| 31 |
+
29,158427.764086
|
| 32 |
+
30,158427.777689
|
| 33 |
+
31,158427.797687
|
| 34 |
+
32,158427.811225
|
| 35 |
+
33,158427.829488
|
| 36 |
+
34,158427.845096
|
| 37 |
+
35,158427.863152
|
| 38 |
+
36,158427.878634
|
| 39 |
+
37,158427.894541
|
| 40 |
+
38,158427.91105
|
| 41 |
+
39,158427.928545
|
| 42 |
+
40,158427.944041
|
| 43 |
+
41,158427.960959
|
| 44 |
+
42,158427.977241
|
| 45 |
+
43,158427.993997
|
| 46 |
+
44,158428.011242
|
| 47 |
+
45,158428.029427
|
| 48 |
+
46,158428.045009
|
| 49 |
+
47,158428.06301
|
| 50 |
+
48,158428.078332
|
| 51 |
+
49,158428.097963
|
| 52 |
+
50,158428.11094
|
| 53 |
+
51,158428.128552
|
| 54 |
+
52,158428.143964
|
| 55 |
+
53,158428.163833
|
| 56 |
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|
multi_sessions_20251119_182300/session_004/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:892815d6719f07eab6498cb9fc55cc4059818efe02509bce15095aacaa5d0c8b
|
| 3 |
+
size 3088025
|
multi_sessions_20251119_182300/session_004/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
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|
|
|
multi_sessions_20251119_182300/session_004/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
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|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 158427.289465s
|
| 6 |
+
Vive 第一帧时间戳: 1763547833.167452s
|
| 7 |
+
计算的 offset: -1763389405.877987s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.877987
|
| 9 |
+
|
| 10 |
+
说明:
|
| 11 |
+
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
+
- 时间戳已与 SLAM 数据对齐
|
| 13 |
+
- 坐标已转换到 Gripper 坐标系
|
| 14 |
+
|
| 15 |
+
生成时间: 2025-11-19 18:24:01
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_182300/session_004/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_005/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1526 @@
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| 1 |
+
timestamp,clamp
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| 2 |
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| 4 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 14 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 29 |
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| 1512 |
+
158451.779913,87.72216723757813
|
| 1513 |
+
158451.786538,87.71309168707114
|
| 1514 |
+
158451.789892,87.71309168707114
|
| 1515 |
+
158451.794649,87.71309168707114
|
| 1516 |
+
158451.801288,87.72216723757813
|
| 1517 |
+
158451.805188,87.72216723757813
|
| 1518 |
+
158451.809342,87.71309168707114
|
| 1519 |
+
158451.814406,87.72216723757813
|
| 1520 |
+
158451.821149,87.72216723757813
|
| 1521 |
+
158451.824873,87.72216723757813
|
| 1522 |
+
158451.829298,87.72216723757813
|
| 1523 |
+
158451.834322,87.71309168707114
|
| 1524 |
+
158451.840049,87.72216723757813
|
| 1525 |
+
158451.84513,87.72216723757813
|
| 1526 |
+
158451.84949,87.72216723757813
|
multi_sessions_20251119_182300/session_005/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1525 @@
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| 1 |
+
158444.230451000 87.85818546608598
|
| 2 |
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| 3 |
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| 4 |
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| 6 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 15 |
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| 17 |
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| 18 |
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| 21 |
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| 28 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
+
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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+
158451.821149000 87.72216723757813
|
| 1520 |
+
158451.824873000 87.72216723757813
|
| 1521 |
+
158451.829298000 87.72216723757813
|
| 1522 |
+
158451.834322000 87.71309168707114
|
| 1523 |
+
158451.840049000 87.72216723757813
|
| 1524 |
+
158451.845130000 87.72216723757813
|
| 1525 |
+
158451.849490000 87.72216723757813
|
multi_sessions_20251119_182300/session_005/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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| 1 |
+
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
融合频率: 120 Hz
|
| 7 |
+
时间匹配阈值: 0.01 s
|
| 8 |
+
基准传感器: VIVE (100Hz)
|
| 9 |
+
辅助传感器: SLAM (500Hz)
|
| 10 |
+
|
| 11 |
+
融合策略:
|
| 12 |
+
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
+
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
+
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
+
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
+
|
| 17 |
+
融合结果统计:
|
| 18 |
+
总融合点数: 762
|
| 19 |
+
均值融合 (都低速): 762
|
| 20 |
+
使用SLAM (VIVE高速): 0
|
| 21 |
+
使用VIVE (SLAM高速): 0
|
| 22 |
+
都高速 (已跳过): 0
|
| 23 |
+
总跳过帧数: 0
|
| 24 |
+
|
| 25 |
+
策略分布:
|
| 26 |
+
均值融合: 100.0%
|
| 27 |
+
使用SLAM: 0.0%
|
| 28 |
+
使用VIVE: 0.0%
|
| 29 |
+
|
| 30 |
+
输出率统计:
|
| 31 |
+
输出率: 100.0%
|
| 32 |
+
跳过率: 0.0%
|
| 33 |
+
|
| 34 |
+
生成时间: 2025-11-19 18:24:19
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_182300/session_005/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_005/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_005/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,459 @@
|
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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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|
|
| 1 |
+
frame_index,timestamp
|
| 2 |
+
0,158444.222897
|
| 3 |
+
1,158444.238704
|
| 4 |
+
2,158444.256424
|
| 5 |
+
3,158444.272689
|
| 6 |
+
4,158444.289139
|
| 7 |
+
5,158444.305537
|
| 8 |
+
6,158444.322606
|
| 9 |
+
7,158444.33909
|
| 10 |
+
8,158444.356042
|
| 11 |
+
9,158444.372532
|
| 12 |
+
10,158444.38886
|
| 13 |
+
11,158444.405991
|
| 14 |
+
12,158444.422804
|
| 15 |
+
13,158444.438553
|
| 16 |
+
14,158444.456402
|
| 17 |
+
15,158444.472698
|
| 18 |
+
16,158444.489085
|
| 19 |
+
17,158444.505325
|
| 20 |
+
18,158444.522408
|
| 21 |
+
19,158444.539048
|
| 22 |
+
20,158444.55601
|
| 23 |
+
21,158444.57259
|
| 24 |
+
22,158444.588843
|
| 25 |
+
23,158444.605963
|
| 26 |
+
24,158444.622715
|
| 27 |
+
25,158444.638445
|
| 28 |
+
26,158444.656408
|
| 29 |
+
27,158444.672653
|
| 30 |
+
28,158444.689032
|
| 31 |
+
29,158444.705446
|
| 32 |
+
30,158444.722377
|
| 33 |
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31,158444.739087
|
| 34 |
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32,158444.755987
|
| 35 |
+
33,158444.772527
|
| 36 |
+
34,158444.788771
|
| 37 |
+
35,158444.805961
|
| 38 |
+
36,158444.82278
|
| 39 |
+
37,158444.838458
|
| 40 |
+
38,158444.85587
|
| 41 |
+
39,158444.872757
|
| 42 |
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40,158444.888965
|
| 43 |
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41,158444.905363
|
| 44 |
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42,158444.922341
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| 45 |
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43,158444.939059
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| 46 |
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44,158444.956189
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| 47 |
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45,158444.972219
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| 48 |
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46,158444.988729
|
| 49 |
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47,158445.005249
|
| 50 |
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48,158445.022504
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| 51 |
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| 52 |
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50,158445.055899
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| 53 |
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51,158445.072576
|
| 54 |
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52,158445.088944
|
| 55 |
+
53,158445.105338
|
| 56 |
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54,158445.122122
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| 57 |
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55,158445.138919
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| 58 |
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56,158445.155992
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| 59 |
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57,158445.172283
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| 60 |
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58,158445.188678
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| 61 |
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59,158445.204984
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| 62 |
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60,158445.222334
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| 63 |
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61,158445.238597
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| 64 |
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62,158445.255625
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| 65 |
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63,158445.271864
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| 66 |
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64,158445.288935
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| 67 |
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65,158445.305388
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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74,158445.455947
|
| 77 |
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75,158445.471799
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| 78 |
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76,158445.488902
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| 79 |
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| 80 |
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78,158445.522285
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| 81 |
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| 82 |
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80,158445.556178
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| 83 |
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81,158445.572118
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| 84 |
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82,158445.588701
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| 85 |
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| 86 |
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| 87 |
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85,158445.638433
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| 88 |
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86,158445.655805
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| 89 |
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87,158445.671787
|
| 90 |
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88,158445.688544
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| 91 |
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89,158445.705357
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| 92 |
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90,158445.722432
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| 93 |
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91,158445.738221
|
| 94 |
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92,158445.756297
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| 95 |
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93,158445.772126
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| 96 |
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94,158445.788664
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| 97 |
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95,158445.805305
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| 98 |
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96,158445.822766
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| 99 |
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97,158445.838569
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| 100 |
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98,158445.855714
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| 101 |
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99,158445.871764
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| 102 |
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100,158445.888579
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| 103 |
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101,158445.905339
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| 104 |
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102,158445.922425
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| 105 |
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103,158445.938134
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| 106 |
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104,158445.956067
|
| 107 |
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105,158445.972125
|
| 108 |
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106,158445.988619
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| 109 |
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107,158446.005253
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| 110 |
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|
| 111 |
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| 112 |
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110,158446.055577
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| 113 |
+
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|
multi_sessions_20251119_182300/session_005/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8477ef9a14a772317a3850afcc65ffdb59f6aef6da37d3acd1931b323ae2860f
|
| 3 |
+
size 3505329
|
multi_sessions_20251119_182300/session_005/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_005/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 158444.229456s
|
| 6 |
+
Vive 第一帧时间戳: 1763547850.107362s
|
| 7 |
+
计算的 offset: -1763389405.877906s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.877906
|
| 9 |
+
|
| 10 |
+
说明:
|
| 11 |
+
- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
+
- 时间戳已与 SLAM 数据对齐
|
| 13 |
+
- 坐标已转换到 Gripper 坐标系
|
| 14 |
+
|
| 15 |
+
生成时间: 2025-11-19 18:24:19
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|