Delete multi_sessions_20251119_182300
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- multi_sessions_20251119_182300/collection_summary.txt +0 -93
- multi_sessions_20251119_182300/session_001/Clamp_Data/clamp.csv +0 -1414
- multi_sessions_20251119_182300/session_001/Clamp_Data/clamp_data_tum.txt +0 -1413
- multi_sessions_20251119_182300/session_001/Merged_Trajectory/merge_stats.txt +0 -37
- 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 +0 -425
- multi_sessions_20251119_182300/session_001/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182300/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182300/session_001/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182300/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182300/session_002/Clamp_Data/clamp.csv +0 -1337
- multi_sessions_20251119_182300/session_002/Clamp_Data/clamp_data_tum.txt +0 -1336
- multi_sessions_20251119_182300/session_002/Merged_Trajectory/merge_stats.txt +0 -37
- 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 +0 -402
- multi_sessions_20251119_182300/session_002/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182300/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182300/session_002/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182300/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182300/session_003/Clamp_Data/clamp.csv +0 -1486
- multi_sessions_20251119_182300/session_003/Clamp_Data/clamp_data_tum.txt +0 -1485
- multi_sessions_20251119_182300/session_003/Merged_Trajectory/merge_stats.txt +0 -37
- 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 +0 -446
- multi_sessions_20251119_182300/session_003/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182300/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182300/session_003/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182300/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182300/session_004/Clamp_Data/clamp.csv +0 -1383
- multi_sessions_20251119_182300/session_004/Clamp_Data/clamp_data_tum.txt +0 -1382
- multi_sessions_20251119_182300/session_004/Merged_Trajectory/merge_stats.txt +0 -37
- 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 +0 -416
- multi_sessions_20251119_182300/session_004/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182300/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182300/session_004/Vive_Poses/offset_info.txt +0 -18
- multi_sessions_20251119_182300/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_182300/session_005/Clamp_Data/clamp.csv +0 -1526
- multi_sessions_20251119_182300/session_005/Clamp_Data/clamp_data_tum.txt +0 -1525
- multi_sessions_20251119_182300/session_005/Merged_Trajectory/merge_stats.txt +0 -37
- 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 +0 -459
- multi_sessions_20251119_182300/session_005/RGB_Images/video.mp4 +0 -3
- multi_sessions_20251119_182300/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_182300/session_005/Vive_Poses/offset_info.txt +0 -18
multi_sessions_20251119_182300/collection_summary.txt
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========================================
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多会话XVisio数据采集摘要（Buffered版本）
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========================================
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开始时间: 2025年 11月 19日 星期三 18:23:02 CST
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设备模式: 单设备
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设备数量: 1
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计划会话数: 5
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会话间隔: 3秒
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摘要目录: ./multi_sessions_20251119_182300
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ToF模式: off
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Python脚本: ./single_session_data_collector_buffered.py
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配置文件: ../start_process/config.json
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========================================
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设备信息:
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XV序列号: 250801DR48FP25002087
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Vive序列号: LHR_B728E669
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设备标签: main
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==========================================
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会话 1 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:23:02 CST
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输出目录: ./multi_sessions_20251119_182300/session_001
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结束时间: 2025年 11月 19日 星期三 18:23:15 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182300/session_001
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==========================================
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会话 2 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:23:19 CST
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输出目录: ./multi_sessions_20251119_182300/session_002
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结束时间: 2025年 11月 19日 星期三 18:23:31 CST
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持续时间: 12秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182300/session_002
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==========================================
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会话 3 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:23:35 CST
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输出目录: ./multi_sessions_20251119_182300/session_003
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结束时间: 2025年 11月 19日 星期三 18:23:48 CST
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持续时间: 13秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182300/session_003
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==========================================
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会话 4 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:23:52 CST
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输出目录: ./multi_sessions_20251119_182300/session_004
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结束时间: 2025年 11月 19日 星期三 18:24:04 CST
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持续时间: 12秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182300/session_004
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==========================================
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会话 5 信息:
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==========================================
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开始时间: 2025年 11月 19日 星期三 18:24:08 CST
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输出目录: ./multi_sessions_20251119_182300/session_005
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结束时间: 2025年 11月 19日 星期三 18:24:22 CST
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持续时间: 14秒
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状态: 成功
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数据验证: 通过
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数据目录: ./multi_sessions_20251119_182300/session_005
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==========================================
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采集完成总结:
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==========================================
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完成时间: 2025年 11月 19日 星期三 18:24:22 CST
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成功会话数: 5
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失败会话数: 0
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总计划会话数: 5
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实际完成会话数: 5
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成功率: 100%
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数据目录结构:
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./multi_sessions_20251119_182300/
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├─ session_001/
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├─ session_002/
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├─ session_003/
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├─ session_004/
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├─ session_005/
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└─ collection_summary.txt
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multi_sessions_20251119_182300/session_001/Clamp_Data/clamp.csv
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timestamp,clamp
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| 1281 |
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158384.475097,87.58593345104586
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| 1282 |
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158384.481018,87.58593345104586
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| 1283 |
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158384.485068,87.58593345104586
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| 1284 |
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158384.492101,87.58593345104586
|
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158384.495653,87.58593345104586
|
| 1286 |
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158384.500072,87.59502240189622
|
| 1287 |
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158384.505401,87.59502240189622
|
| 1288 |
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158384.510339,87.59502240189622
|
| 1289 |
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158384.515168,87.58593345104586
|
| 1290 |
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158384.520077,87.58593345104586
|
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158384.527758,87.58593345104586
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158384.530649,87.58593345104586
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158384.535075,87.58593345104586
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158384.54295,87.58593345104586
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158384.546644,87.58593345104586
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158384.550095,87.58593345104586
|
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158384.555053,87.58593345104586
|
| 1298 |
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158384.560034,87.59502240189622
|
| 1299 |
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158384.565034,87.58593345104586
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| 1300 |
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158384.571396,87.59502240189622
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158384.575091,87.59502240189622
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158384.580035,87.59502240189622
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158384.585038,87.59502240189622
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158384.592934,87.58593345104586
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158384.596659,87.59502240189622
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158384.60003,87.58593345104586
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158384.605181,87.58593345104586
|
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158384.610183,87.59502240189622
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158384.615069,87.59502240189622
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158384.620048,87.59502240189622
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158384.627139,87.59502240189622
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158384.630629,87.59502240189622
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158384.635545,87.59502240189622
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158384.642402,87.59502240189622
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158384.645772,87.59502240189622
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158384.650883,87.59502240189622
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158384.655111,87.59502240189622
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158384.675126,87.59502240189622
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158384.685033,87.59502240189622
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158384.69206,87.59502240189622
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158384.695705,87.59502240189622
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158384.700043,87.59502240189622
|
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158384.705166,87.59502240189622
|
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158384.710716,87.59502240189622
|
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158384.715058,87.59502240189622
|
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158384.720066,87.59502240189622
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158384.725329,87.59502240189622
|
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158384.73005,87.60411039633226
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158384.735038,87.59502240189622
|
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158384.742929,87.59502240189622
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158384.74661,87.59502240189622
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158384.755109,87.59502240189622
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158384.759998,87.59502240189622
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158384.765001,87.59502240189622
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158384.770612,87.59502240189622
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158384.775106,87.60411039633226
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158384.78,87.59502240189622
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158384.785027,87.59502240189622
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158384.791997,87.59502240189622
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158384.795591,87.59502240189622
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158384.800017,87.59502240189622
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158384.805256,87.59502240189622
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158384.810552,87.59502240189622
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158384.815047,87.59502240189622
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158384.827044,87.59502240189622
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158384.830591,87.59502240189622
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158384.835002,87.59502240189622
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158384.842845,87.59502240189622
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158384.846594,87.59502240189622
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158384.85,87.59502240189622
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158384.855069,87.59502240189622
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158384.860129,87.59502240189622
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158384.865038,87.59502240189622
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158384.870828,87.60411039633226
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158384.875034,87.60411039633226
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158384.879998,87.60411039633226
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158384.885,87.60411039633226
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158384.891215,87.60411039633226
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158384.894998,87.60411039633226
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158384.900331,87.60411039633226
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158384.905205,87.60411039633226
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158384.910432,87.60411039633226
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158384.914999,87.60411039633226
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158384.919993,87.60411039633226
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158384.926898,87.60411039633226
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158384.930582,87.60411039633226
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158384.935,87.60411039633226
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158384.941985,87.59502240189622
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158384.945589,87.60411039633226
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158384.950003,87.60411039633226
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158384.955031,87.60411039633226
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158384.959973,87.60411039633226
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158384.964973,87.60411039633226
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158384.971403,87.60411039633226
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158384.975165,87.60411039633226
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158384.979973,87.60411039633226
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158384.984984,87.60411039633226
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158384.992344,87.60411039633226
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158384.995552,87.60411039633226
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158384.999996,87.60411039633226
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158385.005555,87.60411039633226
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158385.01079,87.60411039633226
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158385.014978,87.60411039633226
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158385.019967,87.60411039633226
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158385.027106,87.60411039633226
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158385.030555,87.60411039633226
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158385.035392,87.60411039633226
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158385.042839,87.60411039633226
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158385.046548,87.60411039633226
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158385.049969,87.60411039633226
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158385.055597,87.60411039633226
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158385.059969,87.60411039633226
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158385.065049,87.60411039633226
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158385.070366,87.60411039633226
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158385.075206,87.60411039633226
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158385.080167,87.60411039633226
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158385.084993,87.61319743423809
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158385.092173,87.61319743423809
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158385.095558,87.60411039633226
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158385.100018,87.60411039633226
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158385.105354,87.60411039633226
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158385.110812,87.60411039633226
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158385.114972,87.60411039633226
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158385.11997,87.60411039633226
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158385.125156,87.60411039633226
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158385.129997,87.60411039633226
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158385.134971,87.60411039633226
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158385.143082,87.60411039633226
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multi_sessions_20251119_182300/session_001/Clamp_Data/clamp_data_tum.txt
DELETED
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@@ -1,1413 +0,0 @@
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multi_sessions_20251119_182300/session_001/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 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
|
|
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|
multi_sessions_20251119_182300/session_001/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_001/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_001/RGB_Images/timestamps.csv
DELETED
|
@@ -1,425 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158378.084903
|
| 3 |
-
1,158378.09475
|
| 4 |
-
2,158378.114909
|
| 5 |
-
3,158378.128276
|
| 6 |
-
4,158378.144483
|
| 7 |
-
5,158378.160602
|
| 8 |
-
6,158378.178308
|
| 9 |
-
7,158378.19419
|
| 10 |
-
8,158378.214324
|
| 11 |
-
9,158378.228414
|
| 12 |
-
10,158378.246003
|
| 13 |
-
11,158378.260476
|
| 14 |
-
12,158378.277982
|
| 15 |
-
13,158378.293916
|
| 16 |
-
14,158378.314302
|
| 17 |
-
15,158378.328161
|
| 18 |
-
16,158378.345836
|
| 19 |
-
17,158378.36027
|
| 20 |
-
18,158378.382607
|
| 21 |
-
19,158378.395627
|
| 22 |
-
20,158378.41325
|
| 23 |
-
21,158378.428314
|
| 24 |
-
22,158378.452644
|
| 25 |
-
23,158378.461246
|
| 26 |
-
24,158378.477929
|
| 27 |
-
25,158378.49453
|
| 28 |
-
26,158378.5117
|
| 29 |
-
27,158378.527445
|
| 30 |
-
28,158378.546709
|
| 31 |
-
29,158378.56021
|
| 32 |
-
30,158378.577814
|
| 33 |
-
31,158378.594085
|
| 34 |
-
32,158378.617769
|
| 35 |
-
33,158378.629487
|
| 36 |
-
34,158378.644341
|
| 37 |
-
35,158378.660434
|
| 38 |
-
36,158378.677772
|
| 39 |
-
37,158378.693579
|
| 40 |
-
38,158378.715669
|
| 41 |
-
39,158378.728262
|
| 42 |
-
40,158378.744252
|
| 43 |
-
41,158378.760164
|
| 44 |
-
42,158378.777731
|
| 45 |
-
43,158378.794392
|
| 46 |
-
44,158378.812191
|
| 47 |
-
45,158378.827553
|
| 48 |
-
46,158378.847702
|
| 49 |
-
47,158378.860724
|
| 50 |
-
48,158378.877723
|
| 51 |
-
49,158378.893473
|
| 52 |
-
50,158378.91148
|
| 53 |
-
51,158378.927676
|
| 54 |
-
52,158378.947985
|
| 55 |
-
53,158378.96017
|
| 56 |
-
54,158378.977943
|
| 57 |
-
55,158378.994107
|
| 58 |
-
56,158379.011492
|
| 59 |
-
57,158379.027457
|
| 60 |
-
58,158379.044068
|
| 61 |
-
59,158379.060098
|
| 62 |
-
60,158379.077716
|
| 63 |
-
61,158379.093606
|
| 64 |
-
62,158379.11253
|
| 65 |
-
63,158379.127817
|
| 66 |
-
64,158379.145784
|
| 67 |
-
65,158379.16045
|
| 68 |
-
66,158379.177826
|
| 69 |
-
67,158379.19399
|
| 70 |
-
68,158379.214273
|
| 71 |
-
69,158379.22787
|
| 72 |
-
70,158379.246895
|
| 73 |
-
71,158379.260001
|
| 74 |
-
72,158379.277883
|
| 75 |
-
73,158379.293637
|
| 76 |
-
74,158379.313879
|
| 77 |
-
75,158379.328013
|
| 78 |
-
76,158379.34601
|
| 79 |
-
77,158379.360151
|
| 80 |
-
78,158379.384568
|
| 81 |
-
79,158379.394321
|
| 82 |
-
80,158379.415649
|
| 83 |
-
81,158379.428326
|
| 84 |
-
82,158379.445434
|
| 85 |
-
83,158379.460008
|
| 86 |
-
84,158379.477919
|
| 87 |
-
85,158379.493754
|
| 88 |
-
86,158379.513884
|
| 89 |
-
87,158379.527959
|
| 90 |
-
88,158379.545971
|
| 91 |
-
89,158379.56014
|
| 92 |
-
90,158379.584439
|
| 93 |
-
91,158379.594295
|
| 94 |
-
92,158379.615666
|
| 95 |
-
93,158379.628148
|
| 96 |
-
94,158379.64381
|
| 97 |
-
95,158379.660105
|
| 98 |
-
96,158379.677872
|
| 99 |
-
97,158379.693916
|
| 100 |
-
98,158379.710313
|
| 101 |
-
99,158379.726991
|
| 102 |
-
100,158379.745341
|
| 103 |
-
101,158379.759986
|
| 104 |
-
102,158379.784393
|
| 105 |
-
103,158379.793805
|
| 106 |
-
104,158379.81396
|
| 107 |
-
105,158379.827894
|
| 108 |
-
106,158379.844333
|
| 109 |
-
107,158379.860008
|
| 110 |
-
108,158379.882151
|
| 111 |
-
109,158379.894146
|
| 112 |
-
110,158379.910451
|
| 113 |
-
111,158379.926965
|
| 114 |
-
112,158379.949577
|
| 115 |
-
113,158379.960568
|
| 116 |
-
114,158379.977307
|
| 117 |
-
115,158379.993913
|
| 118 |
-
116,158380.013798
|
| 119 |
-
117,158380.027784
|
| 120 |
-
118,158380.045223
|
| 121 |
-
119,158380.059867
|
| 122 |
-
120,158380.083231
|
| 123 |
-
121,158380.094172
|
| 124 |
-
122,158380.115068
|
| 125 |
-
123,158380.127787
|
| 126 |
-
124,158380.14495
|
| 127 |
-
125,158380.160121
|
| 128 |
-
126,158380.181248
|
| 129 |
-
127,158380.19355
|
| 130 |
-
128,158380.214958
|
| 131 |
-
129,158380.227763
|
| 132 |
-
130,158380.243918
|
| 133 |
-
131,158380.259944
|
| 134 |
-
132,158380.282774
|
| 135 |
-
133,158380.294074
|
| 136 |
-
134,158380.313623
|
| 137 |
-
135,158380.327886
|
| 138 |
-
136,158380.343567
|
| 139 |
-
137,158380.360237
|
| 140 |
-
138,158380.377454
|
| 141 |
-
139,158380.393223
|
| 142 |
-
140,158380.413525
|
| 143 |
-
141,158380.427652
|
| 144 |
-
142,158380.443478
|
| 145 |
-
143,158380.459816
|
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multi_sessions_20251119_182300/session_001/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:bbaa9b8501818d967f3b88d0f3f81a0e6035ff8ec6f8278ea09797c0cb72bcb5
|
| 3 |
-
size 3454733
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multi_sessions_20251119_182300/session_001/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_001/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 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
|
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multi_sessions_20251119_182300/session_001/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
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multi_sessions_20251119_182300/session_002/Clamp_Data/clamp.csv
DELETED
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|
multi_sessions_20251119_182300/session_002/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1336 +0,0 @@
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| 1 |
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158394.848682000 87.90347690632468
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158395.218320000 87.90347690632468
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158395.568643000 87.82193503733029
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158395.578222000 87.84006217078714
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158399.954653000 41.398886778535655
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158399.958085000 41.398886778535655
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158399.962576000 41.41087608162968
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158399.974074000 41.41087608162968
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158400.020014000 43.04987223596952
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158400.188357000 87.60411039633226
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158400.197435000 87.58593345104586
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158400.204603000 87.59502240189622
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158400.242638000 87.62228351549781
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158401.120489000 87.64953601824159
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158401.123900000 87.64953601824159
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158401.127301000 87.64953601824159
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158401.297281000 87.66769956804939
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158401.320190000 87.66769956804939
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158401.332277000 87.66769956804939
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| 1299 |
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158401.337278000 87.66769956804939
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| 1300 |
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158401.342283000 87.66769956804939
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| 1301 |
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158401.347421000 87.66769956804939
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| 1302 |
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158401.352434000 87.66769956804939
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| 1303 |
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| 1304 |
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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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| 1311 |
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| 1312 |
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| 1313 |
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| 1314 |
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| 1315 |
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| 1317 |
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multi_sessions_20251119_182300/session_002/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 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
|
|
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|
multi_sessions_20251119_182300/session_002/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_002/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_002/RGB_Images/timestamps.csv
DELETED
|
@@ -1,402 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158394.839222
|
| 3 |
-
1,158394.855182
|
| 4 |
-
2,158394.878422
|
| 5 |
-
3,158394.888292
|
| 6 |
-
4,158394.906252
|
| 7 |
-
5,158394.921414
|
| 8 |
-
6,158394.938464
|
| 9 |
-
7,158394.955114
|
| 10 |
-
8,158394.976035
|
| 11 |
-
9,158394.98823
|
| 12 |
-
10,158395.00962
|
| 13 |
-
11,158395.021922
|
| 14 |
-
12,158395.038454
|
| 15 |
-
13,158395.055243
|
| 16 |
-
14,158395.072691
|
| 17 |
-
15,158395.088093
|
| 18 |
-
16,158395.109851
|
| 19 |
-
17,158395.121946
|
| 20 |
-
18,158395.138433
|
| 21 |
-
19,158395.154951
|
| 22 |
-
20,158395.175925
|
| 23 |
-
21,158395.18823
|
| 24 |
-
22,158395.209769
|
| 25 |
-
23,158395.221706
|
| 26 |
-
24,158395.238131
|
| 27 |
-
25,158395.255153
|
| 28 |
-
26,158395.278465
|
| 29 |
-
27,158395.288235
|
| 30 |
-
28,158395.309795
|
| 31 |
-
29,158395.322078
|
| 32 |
-
30,158395.338373
|
| 33 |
-
31,158395.354955
|
| 34 |
-
32,158395.37564
|
| 35 |
-
33,158395.388596
|
| 36 |
-
34,158395.404911
|
| 37 |
-
35,158395.42156
|
| 38 |
-
36,158395.43808
|
| 39 |
-
37,158395.45525
|
| 40 |
-
38,158395.472493
|
| 41 |
-
39,158395.488205
|
| 42 |
-
40,158395.509786
|
| 43 |
-
41,158395.52201
|
| 44 |
-
42,158395.538322
|
| 45 |
-
43,158395.554865
|
| 46 |
-
44,158395.575721
|
| 47 |
-
45,158395.588303
|
| 48 |
-
46,158395.604908
|
| 49 |
-
47,158395.622269
|
| 50 |
-
48,158395.64294
|
| 51 |
-
49,158395.655335
|
| 52 |
-
50,158395.672373
|
| 53 |
-
51,158395.688049
|
| 54 |
-
52,158395.704631
|
| 55 |
-
53,158395.721589
|
| 56 |
-
54,158395.73803
|
| 57 |
-
55,158395.754782
|
| 58 |
-
56,158395.775633
|
| 59 |
-
57,158395.788337
|
| 60 |
-
58,158395.806025
|
| 61 |
-
59,158395.821111
|
| 62 |
-
60,158395.837974
|
| 63 |
-
61,158395.855099
|
| 64 |
-
62,158395.872354
|
| 65 |
-
63,158395.887883
|
| 66 |
-
64,158395.909472
|
| 67 |
-
65,158395.92182
|
| 68 |
-
66,158395.93825
|
| 69 |
-
67,158395.95482
|
| 70 |
-
68,158395.975521
|
| 71 |
-
69,158395.987886
|
| 72 |
-
70,158396.006039
|
| 73 |
-
71,158396.021104
|
| 74 |
-
72,158396.038013
|
| 75 |
-
73,158396.054596
|
| 76 |
-
74,158396.072413
|
| 77 |
-
75,158396.087942
|
| 78 |
-
76,158396.104703
|
| 79 |
-
77,158396.121204
|
| 80 |
-
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multi_sessions_20251119_182300/session_002/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:b7039b4b7e751bddb9db997fd8655aa3fe89e79fc1b10d4417aecdc99846a1ad
|
| 3 |
-
size 3099033
|
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multi_sessions_20251119_182300/session_002/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_002/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 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
|
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multi_sessions_20251119_182300/session_002/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
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multi_sessions_20251119_182300/session_003/Clamp_Data/clamp.csv
DELETED
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timestamp,clamp
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158416.665346,87.65861827175821
|
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|
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158416.674778,87.65861827175821
|
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|
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|
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|
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158416.694823,87.66769956804939
|
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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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158416.85985,87.66769956804939
|
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|
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|
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158416.874746,87.65861827175821
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|
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|
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158416.894855,87.64953601824159
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158416.900706,87.65861827175821
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158416.909776,87.65861827175821
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158416.925407,87.65861827175821
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158416.965262,87.66769956804939
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158417.354682,87.65861827175821
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158417.359682,87.64953601824159
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158417.365164,87.65861827175821
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158417.486233,87.64953601824159
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158417.495092,87.64953601824159
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158417.500021,87.65861827175821
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158417.581867,87.65861827175821
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158417.585243,87.65861827175821
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158417.624702,87.64953601824159
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|
multi_sessions_20251119_182300/session_003/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1485 +0,0 @@
|
|
| 1 |
-
158410.235822000 87.85818546608598
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| 2 |
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158410.240824000 87.84912429826412
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158410.247674000 87.84912429826412
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158410.530820000 87.85818546608598
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158410.535780000 87.85818546608598
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158410.560780000 87.84912429826412
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158410.566772000 87.84006217078714
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158410.570778000 87.84912429826412
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158410.575961000 87.84912429826412
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158410.580930000 87.84912429826412
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158410.585893000 87.84912429826412
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158410.590779000 87.84912429826412
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158410.620782000 87.84006217078714
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158410.635779000 87.84006217078714
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158410.675850000 87.84912429826412
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158410.680994000 87.85818546608598
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158410.710778000 87.84912429826412
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158415.705000000 41.73444789192807
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158415.965132000 78.97313197892201
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158416.689998000 87.65861827175821
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| 1293 |
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158416.694823000 87.66769956804939
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| 1294 |
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158416.700557000 87.65861827175821
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| 1295 |
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158416.704794000 87.65861827175821
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| 1296 |
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| 1297 |
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158416.715216000 87.65861827175821
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| 1298 |
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158416.719874000 87.65861827175821
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| 1299 |
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158416.724789000 87.65861827175821
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| 1300 |
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158416.754994000 87.65861827175821
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158416.760009000 87.65861827175821
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| 1307 |
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158416.765247000 87.65861827175821
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158416.769783000 87.65861827175821
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158416.774780000 87.65861827175821
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158416.834750000 87.65861827175821
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158416.839960000 87.65861827175821
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158416.847792000 87.65861827175821
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158416.851325000 87.65861827175821
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158416.854750000 87.65861827175821
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158416.859850000 87.66769956804939
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158416.865279000 87.66769956804939
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158416.869750000 87.66769956804939
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158416.874746000 87.65861827175821
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158416.894855000 87.64953601824159
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158416.904750000 87.65861827175821
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158416.909776000 87.65861827175821
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158416.965262000 87.66769956804939
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158416.969761000 87.65861827175821
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158417.000050000 87.65861827175821
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158417.074704000 87.66769956804939
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158417.354682000 87.65861827175821
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158417.359682000 87.64953601824159
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158417.464810000 87.65861827175821
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158417.469655000 87.65861827175821
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158417.474652000 87.65861827175821
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158417.482605000 87.65861827175821
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158417.486233000 87.64953601824159
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158417.489820000 87.65861827175821
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158417.495092000 87.64953601824159
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158417.500021000 87.65861827175821
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158417.515136000 87.65861827175821
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158417.534655000 87.65861827175821
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158417.539663000 87.65861827175821
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158417.545671000 87.65861827175821
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158417.549663000 87.65861827175821
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158417.554654000 87.65861827175821
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158417.559757000 87.65861827175821
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158417.565350000 87.65861827175821
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158417.569653000 87.65861827175821
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158417.574688000 87.65861827175821
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158417.594865000 87.65861827175821
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158417.609659000 87.65861827175821
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158417.614757000 87.65861827175821
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158417.624702000 87.64953601824159
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158417.630863000 87.64953601824159
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158417.634662000 87.65861827175821
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158417.640026000 87.65861827175821
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158417.646531000 87.65861827175821
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158417.654628000 87.65861827175821
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multi_sessions_20251119_182300/session_003/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 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
|
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multi_sessions_20251119_182300/session_003/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_003/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_003/RGB_Images/timestamps.csv
DELETED
|
@@ -1,446 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158410.233364
|
| 3 |
-
1,158410.249777
|
| 4 |
-
2,158410.267374
|
| 5 |
-
3,158410.283377
|
| 6 |
-
4,158410.299682
|
| 7 |
-
5,158410.316606
|
| 8 |
-
6,158410.333672
|
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|
| 10 |
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8,158410.366904
|
| 11 |
-
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|
| 12 |
-
10,158410.400858
|
| 13 |
-
11,158410.416406
|
| 14 |
-
12,158410.433258
|
| 15 |
-
13,158410.449716
|
| 16 |
-
14,158410.467233
|
| 17 |
-
15,158410.483648
|
| 18 |
-
16,158410.499622
|
| 19 |
-
17,158410.516577
|
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18,158410.533622
|
| 21 |
-
19,158410.55004
|
| 22 |
-
20,158410.566941
|
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21,158410.583816
|
| 24 |
-
22,158410.599678
|
| 25 |
-
23,158410.616606
|
| 26 |
-
24,158410.633294
|
| 27 |
-
25,158410.649796
|
| 28 |
-
26,158410.667166
|
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-
27,158410.683583
|
| 30 |
-
28,158410.699522
|
| 31 |
-
29,158410.716496
|
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|
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-
31,158410.749964
|
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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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-
48,158411.033182
|
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-
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|
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-
50,158411.066635
|
| 53 |
-
51,158411.083662
|
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|
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53,158411.116378
|
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|
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-
55,158411.149932
|
| 58 |
-
56,158411.167188
|
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-
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|
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58,158411.19934
|
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59,158411.216628
|
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60,158411.233126
|
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61,158411.249836
|
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62,158411.266793
|
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63,158411.283655
|
| 66 |
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64,158411.300318
|
| 67 |
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65,158411.316022
|
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-
66,158411.332998
|
| 69 |
-
67,158411.349561
|
| 70 |
-
68,158411.367043
|
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69,158411.383054
|
| 72 |
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70,158411.399269
|
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71,158411.41616
|
| 74 |
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72,158411.433151
|
| 75 |
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73,158411.450051
|
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-
74,158411.467054
|
| 77 |
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75,158411.483385
|
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-
76,158411.500354
|
| 79 |
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77,158411.516712
|
| 80 |
-
78,158411.533003
|
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79,158411.549539
|
| 82 |
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80,158411.567072
|
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81,158411.583093
|
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-
82,158411.599258
|
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-
83,158411.616149
|
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84,158411.63324
|
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85,158411.649632
|
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86,158411.665826
|
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87,158411.683282
|
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88,158411.700454
|
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89,158411.716072
|
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|
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-
91,158411.750311
|
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92,158411.770489
|
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93,158411.783664
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94,158411.799226
|
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95,158411.816244
|
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96,158411.836135
|
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97,158411.849979
|
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98,158411.866957
|
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99,158411.883105
|
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100,158411.899351
|
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101,158411.916246
|
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102,158411.932939
|
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|
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|
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|
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|
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|
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108,158412.033131
|
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109,158412.049951
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|
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|
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|
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113,158412.116082
|
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|
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|
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116,158412.165636
|
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118,158412.199112
|
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119,158412.215937
|
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120,158412.232746
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|
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|
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123,158412.282732
|
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124,158412.298968
|
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125,158412.316323
|
| 128 |
-
126,158412.332927
|
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127,158412.349352
|
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128,158412.368443
|
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129,158412.383517
|
| 132 |
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130,158412.399106
|
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131,158412.415987
|
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132,158412.43277
|
| 135 |
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133,158412.450222
|
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134,158412.466598
|
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135,158412.482975
|
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136,158412.498931
|
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137,158412.516146
|
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138,158412.53286
|
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139,158412.549423
|
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|
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|
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142,158412.600459
|
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143,158412.61569
|
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144,158412.63258
|
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145,158412.649887
|
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146,158412.666797
|
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|
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148,158412.698832
|
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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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173,158413.115666
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|
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175,158413.148924
|
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multi_sessions_20251119_182300/session_003/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:33867bb5e4d7cc03ba1b6a2dde3024d0088a3ee39b67e95e7ed548a2b73d604b
|
| 3 |
-
size 3443158
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multi_sessions_20251119_182300/session_003/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_003/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 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
|
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multi_sessions_20251119_182300/session_003/Vive_Poses/vive_data_tum.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
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multi_sessions_20251119_182300/session_004/Clamp_Data/clamp.csv
DELETED
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timestamp,clamp
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158433.847071,87.54047435463723
|
| 1315 |
-
158433.852102,87.54047435463723
|
| 1316 |
-
158433.857104,87.54047435463723
|
| 1317 |
-
158433.863033,87.54956808582004
|
| 1318 |
-
158433.867066,87.54047435463723
|
| 1319 |
-
158433.872195,87.54047435463723
|
| 1320 |
-
158433.87812,87.54047435463723
|
| 1321 |
-
158433.88212,87.54047435463723
|
| 1322 |
-
158433.887068,87.54047435463723
|
| 1323 |
-
158433.892914,87.54047435463723
|
| 1324 |
-
158433.897119,87.54047435463723
|
| 1325 |
-
158433.902407,87.54047435463723
|
| 1326 |
-
158433.909006,87.53137966773579
|
| 1327 |
-
158433.912644,87.53137966773579
|
| 1328 |
-
158433.917151,87.53137966773579
|
| 1329 |
-
158433.923439,87.53137966773579
|
| 1330 |
-
158433.927067,87.53137966773579
|
| 1331 |
-
158433.932066,87.53137966773579
|
| 1332 |
-
158433.93733,87.53137966773579
|
| 1333 |
-
158433.943686,87.53137966773579
|
| 1334 |
-
158433.947059,87.53137966773579
|
| 1335 |
-
158433.952036,87.53137966773579
|
| 1336 |
-
158433.957265,87.53137966773579
|
| 1337 |
-
158433.963219,87.53137966773579
|
| 1338 |
-
158433.967071,87.53137966773579
|
| 1339 |
-
158433.97206,87.54047435463723
|
| 1340 |
-
158433.977093,87.54047435463723
|
| 1341 |
-
158433.982087,87.54047435463723
|
| 1342 |
-
158433.987037,87.53137966773579
|
| 1343 |
-
158433.992922,87.53137966773579
|
| 1344 |
-
158433.997046,87.52228402523176
|
| 1345 |
-
158434.002512,87.52228402523176
|
| 1346 |
-
158434.008786,87.53137966773579
|
| 1347 |
-
158434.012611,87.53137966773579
|
| 1348 |
-
158434.017037,87.53137966773579
|
| 1349 |
-
158434.023025,87.52228402523176
|
| 1350 |
-
158434.027037,87.52228402523176
|
| 1351 |
-
158434.032038,87.53137966773579
|
| 1352 |
-
158434.037039,87.53137966773579
|
| 1353 |
-
158434.044059,87.53137966773579
|
| 1354 |
-
158434.047693,87.52228402523176
|
| 1355 |
-
158434.052034,87.52228402523176
|
| 1356 |
-
158434.057311,87.52228402523176
|
| 1357 |
-
158434.063066,87.53137966773579
|
| 1358 |
-
158434.067034,87.53137966773579
|
| 1359 |
-
158434.07229,87.53137966773579
|
| 1360 |
-
158434.078201,87.52228402523176
|
| 1361 |
-
158434.082049,87.52228402523176
|
| 1362 |
-
158434.087036,87.53137966773579
|
| 1363 |
-
158434.092862,87.53137966773579
|
| 1364 |
-
158434.097045,87.52228402523176
|
| 1365 |
-
158434.10216,87.52228402523176
|
| 1366 |
-
158434.108788,87.52228402523176
|
| 1367 |
-
158434.112669,87.52228402523176
|
| 1368 |
-
158434.117046,87.52228402523176
|
| 1369 |
-
158434.123702,87.53137966773579
|
| 1370 |
-
158434.127037,87.52228402523176
|
| 1371 |
-
158434.132035,87.52228402523176
|
| 1372 |
-
158434.137035,87.52228402523176
|
| 1373 |
-
158434.143667,87.53137966773579
|
| 1374 |
-
158434.147016,87.52228402523176
|
| 1375 |
-
158434.152006,87.52228402523176
|
| 1376 |
-
158434.157034,87.52228402523176
|
| 1377 |
-
158434.163231,87.52228402523176
|
| 1378 |
-
158434.167068,87.52228402523176
|
| 1379 |
-
158434.17211,87.52228402523176
|
| 1380 |
-
158434.177023,87.52228402523176
|
| 1381 |
-
158434.182039,87.52228402523176
|
| 1382 |
-
158434.187007,87.52228402523176
|
| 1383 |
-
158434.19288,87.52228402523176
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|
multi_sessions_20251119_182300/session_004/Clamp_Data/clamp_data_tum.txt
DELETED
|
@@ -1,1382 +0,0 @@
|
|
| 1 |
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158427.288076000 87.69493771241248
|
| 2 |
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158427.294856000 87.69493771241248
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| 3 |
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158427.298649000 87.69493771241248
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| 4 |
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158427.303082000 87.68585928849235
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| 5 |
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158427.308693000 87.68585928849235
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| 6 |
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158427.313080000 87.69493771241248
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| 7 |
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158427.318161000 87.69493771241248
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| 8 |
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158427.323970000 87.69493771241248
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| 9 |
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158427.328097000 87.69493771241248
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| 10 |
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158427.333076000 87.69493771241248
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158427.338086000 87.69493771241248
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| 12 |
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158427.344320000 87.68585928849235
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| 13 |
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158427.348077000 87.68585928849235
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| 14 |
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158427.353340000 87.68585928849235
|
| 15 |
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158427.358301000 87.68585928849235
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| 16 |
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158427.363861000 87.68585928849235
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| 17 |
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158427.368642000 87.68585928849235
|
| 18 |
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158427.373075000 87.68585928849235
|
| 19 |
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158427.378864000 87.68585928849235
|
| 20 |
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158427.383088000 87.68585928849235
|
| 21 |
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158427.388084000 87.68585928849235
|
| 22 |
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158427.394537000 87.69493771241248
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| 23 |
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158427.398084000 87.69493771241248
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| 24 |
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| 25 |
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158427.408128000 87.69493771241248
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158427.413080000 87.69493771241248
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| 27 |
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158427.418079000 87.69493771241248
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| 28 |
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158427.423304000 87.68585928849235
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| 29 |
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158427.428141000 87.68585928849235
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| 30 |
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|
| 31 |
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158427.438308000 87.69493771241248
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|
| 33 |
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158427.448053000 87.68585928849235
|
| 34 |
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| 35 |
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158427.458084000 87.69493771241248
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| 36 |
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158427.463418000 87.69493771241248
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| 37 |
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| 38 |
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|
| 39 |
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158427.478917000 87.68585928849235
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| 40 |
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| 41 |
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158427.488057000 87.69493771241248
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| 42 |
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| 43 |
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158427.498058000 87.69493771241248
|
| 44 |
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158427.503150000 87.69493771241248
|
| 45 |
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158427.508720000 87.69493771241248
|
| 46 |
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158427.513051000 87.69493771241248
|
| 47 |
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158427.518109000 87.69493771241248
|
| 48 |
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158427.524635000 87.69493771241248
|
| 49 |
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158427.528053000 87.69493771241248
|
| 50 |
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158427.533046000 87.69493771241248
|
| 51 |
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158427.538073000 87.69493771241248
|
| 52 |
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158427.545477000 87.68585928849235
|
| 53 |
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158427.548627000 87.69493771241248
|
| 54 |
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158427.553425000 87.69493771241248
|
| 55 |
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158427.558081000 87.69493771241248
|
| 56 |
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158427.563703000 87.69493771241248
|
| 57 |
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158427.568043000 87.69493771241248
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| 58 |
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158427.573044000 87.69493771241248
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| 59 |
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158427.578847000 87.69493771241248
|
| 60 |
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158427.583055000 87.68585928849235
|
| 61 |
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158427.588059000 87.68585928849235
|
| 62 |
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158427.594588000 87.69493771241248
|
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158432.428863000 71.99525955461449
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158432.432290000 72.13112871169973
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158432.447361000 73.37920937564358
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158432.487292000 79.49699977140382
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158432.493630000 80.4593347300341
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158432.517288000 84.04508584843
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158432.667320000 87.64045280761543
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158432.727275000 87.62228351549781
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158432.772237000 87.61319743423809
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158432.828795000 87.61319743423809
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158432.832249000 87.61319743423809
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158432.912245000 87.60411039633226
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158432.917230000 87.60411039633226
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158432.922251000 87.59502240189622
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158432.967221000 87.60411039633226
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158432.978010000 87.59502240189622
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158433.067194000 87.59502240189622
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158433.072203000 87.58593345104586
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158433.077510000 87.58593345104586
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158433.082198000 87.58593345104586
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158433.102191000 87.58593345104586
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158433.112277000 87.57684354389714
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158433.127253000 87.57684354389714
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158433.167172000 87.58593345104586
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158433.172176000 87.57684354389714
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158433.177485000 87.58593345104586
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| 1180 |
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158433.187169000 87.58593345104586
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| 1185 |
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multi_sessions_20251119_182300/session_004/Merged_Trajectory/merge_stats.txt
DELETED
|
@@ -1,37 +0,0 @@
|
|
| 1 |
-
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
融合配置:
|
| 5 |
-
速度阈值: 1.0 m/s
|
| 6 |
-
融合频率: 120 Hz
|
| 7 |
-
时间匹配阈值: 0.01 s
|
| 8 |
-
基准传感器: VIVE (100Hz)
|
| 9 |
-
辅助传感器: SLAM (500Hz)
|
| 10 |
-
|
| 11 |
-
融合策略:
|
| 12 |
-
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
-
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
-
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
-
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
-
|
| 17 |
-
融合结果统计:
|
| 18 |
-
总融合点数: 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
|
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multi_sessions_20251119_182300/session_004/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_004/Merged_Trajectory/merged_trajectory.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_004/RGB_Images/timestamps.csv
DELETED
|
@@ -1,416 +0,0 @@
|
|
| 1 |
-
frame_index,timestamp
|
| 2 |
-
0,158427.278815
|
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1,158427.294219
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16,158427.544405
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24,158427.678794
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83,158428.660792
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multi_sessions_20251119_182300/session_004/RGB_Images/video.mp4
DELETED
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version https://git-lfs.github.com/spec/v1
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| 2 |
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| 3 |
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size 3088025
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multi_sessions_20251119_182300/session_004/SLAM_Poses/slam_raw.txt
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multi_sessions_20251119_182300/session_004/Vive_Poses/offset_info.txt
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Vive 时间戳对齐信息
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============================================================
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| 3 |
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| 4 |
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对齐参数:
|
| 5 |
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SLAM 第一帧时间戳: 158427.289465s
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| 6 |
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Vive 第一帧时间戳: 1763547833.167452s
|
| 7 |
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计算的 offset: -1763389405.877987s
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| 8 |
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对齐公式: vive_aligned = vive_original + -1763389405.877987
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| 9 |
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| 10 |
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说明:
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| 11 |
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- 所有保存的 Vive 数据已使用对齐后的时间戳
|
| 12 |
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- 时间戳已与 SLAM 数据对齐
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| 13 |
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- 坐标已转换到 Gripper 坐标系
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| 14 |
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| 15 |
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生成时间: 2025-11-19 18:24:01
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| 16 |
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设备标签: main
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| 17 |
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XV 序列号: 250801DR48FP25002087
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| 18 |
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_182300/session_004/Vive_Poses/vive_data_tum.txt
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multi_sessions_20251119_182300/session_005/Clamp_Data/clamp.csv
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158451.284433,87.69493771241248
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158451.289567,87.69493771241248
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158451.294495,87.69493771241248
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158451.300029,87.69493771241248
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158451.304546,87.69493771241248
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158451.309471,87.69493771241248
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158451.314403,87.69493771241248
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158451.320607,87.69493771241248
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158451.324417,87.69493771241248
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158451.329693,87.69493771241248
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158451.33709,87.69493771241248
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158451.339967,87.69493771241248
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158451.344404,87.69493771241248
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158451.349526,87.69493771241248
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158451.354927,87.70401517864401
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158451.359403,87.70401517864401
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158451.364413,87.70401517864401
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158451.370858,87.70401517864401
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158451.37441,87.70401517864401
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158451.379717,87.70401517864401
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158451.384447,87.69493771241248
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158451.389405,87.69493771241248
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158451.39442,87.69493771241248
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158451.403283,87.70401517864401
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158451.407026,87.70401517864401
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158451.410311,87.70401517864401
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158451.424368,87.71309168707114
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158451.455302,87.71309168707114
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158451.714381,87.71309168707114
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158451.720538,87.71309168707114
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158451.724335,87.71309168707114
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158451.729332,87.71309168707114
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158451.736017,87.71309168707114
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158451.739334,87.71309168707114
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158451.744346,87.71309168707114
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158451.74938,87.71309168707114
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158451.754466,87.71309168707114
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158451.759335,87.71309168707114
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158451.764336,87.71309168707114
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158451.779913,87.72216723757813
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158451.786538,87.71309168707114
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158451.834322,87.71309168707114
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multi_sessions_20251119_182300/session_005/Clamp_Data/clamp_data_tum.txt
DELETED
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@@ -1,1525 +0,0 @@
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158449.864631000 41.54273413446196
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158449.871423000 42.440565554936526
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158449.880221000 44.59839156560539
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158449.907195000 57.517169111707
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158449.910401000 58.873805285734
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| 1420 |
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158451.324417000 87.69493771241248
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158451.329693000 87.69493771241248
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| 1422 |
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158451.337090000 87.69493771241248
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| 1423 |
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158451.339967000 87.69493771241248
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158451.344404000 87.69493771241248
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| 1425 |
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158451.349526000 87.69493771241248
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| 1426 |
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158451.354927000 87.70401517864401
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158451.359403000 87.70401517864401
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| 1428 |
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158451.364413000 87.70401517864401
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158451.370858000 87.70401517864401
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| 1430 |
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158451.374410000 87.70401517864401
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158451.379717000 87.70401517864401
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158451.384447000 87.69493771241248
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158451.389405000 87.69493771241248
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158451.394420000 87.69493771241248
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158451.403283000 87.70401517864401
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158451.407026000 87.70401517864401
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158451.414370000 87.70401517864401
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158451.554887000 87.71309168707114
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158451.574384000 87.71309168707114
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158451.579370000 87.71309168707114
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158451.584816000 87.71309168707114
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158451.589364000 87.71309168707114
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158451.594367000 87.71309168707114
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158451.599754000 87.71309168707114
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158451.604416000 87.71309168707114
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158451.621731000 87.71309168707114
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158451.629389000 87.71309168707114
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158451.636429000 87.71309168707114
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158451.644535000 87.71309168707114
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158451.649332000 87.71309168707114
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158451.654768000 87.71309168707114
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158451.659339000 87.71309168707114
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158451.674341000 87.71309168707114
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158451.679544000 87.71309168707114
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158451.684666000 87.71309168707114
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158451.689337000 87.71309168707114
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158451.694384000 87.70401517864401
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158451.699708000 87.71309168707114
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158451.704514000 87.71309168707114
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158451.714381000 87.71309168707114
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158451.720538000 87.71309168707114
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158451.724335000 87.71309168707114
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158451.729332000 87.71309168707114
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158451.736017000 87.71309168707114
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158451.739334000 87.71309168707114
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158451.744346000 87.71309168707114
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158451.749380000 87.71309168707114
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158451.754466000 87.71309168707114
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158451.764336000 87.71309168707114
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158451.770682000 87.71309168707114
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158451.774395000 87.71309168707114
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158451.779913000 87.72216723757813
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| 1512 |
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158451.786538000 87.71309168707114
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158451.789892000 87.71309168707114
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158451.794649000 87.71309168707114
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158451.801288000 87.72216723757813
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158451.805188000 87.72216723757813
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158451.809342000 87.71309168707114
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158451.814406000 87.72216723757813
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158451.821149000 87.72216723757813
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158451.824873000 87.72216723757813
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158451.829298000 87.72216723757813
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158451.834322000 87.71309168707114
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158451.840049000 87.72216723757813
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158451.845130000 87.72216723757813
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| 1525 |
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158451.849490000 87.72216723757813
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multi_sessions_20251119_182300/session_005/Merged_Trajectory/merge_stats.txt
DELETED
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@@ -1,37 +0,0 @@
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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
|
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multi_sessions_20251119_182300/session_005/Merged_Trajectory/merged_trajectory.csv
DELETED
|
The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_182300/session_005/Merged_Trajectory/merged_trajectory.txt
DELETED
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The diff for this file is too large to render.
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multi_sessions_20251119_182300/session_005/RGB_Images/timestamps.csv
DELETED
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frame_index,timestamp
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|
multi_sessions_20251119_182300/session_005/RGB_Images/video.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:8477ef9a14a772317a3850afcc65ffdb59f6aef6da37d3acd1931b323ae2860f
|
| 3 |
-
size 3505329
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|
multi_sessions_20251119_182300/session_005/SLAM_Poses/slam_raw.txt
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_182300/session_005/Vive_Poses/offset_info.txt
DELETED
|
@@ -1,18 +0,0 @@
|
|
| 1 |
-
Vive 时间戳对齐信息
|
| 2 |
-
============================================================
|
| 3 |
-
|
| 4 |
-
对齐参数:
|
| 5 |
-
SLAM 第一帧时间戳: 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
|
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