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- multi_sessions_20251119_180541/collection_summary.txt +93 -0
- multi_sessions_20251119_180541/session_001/Clamp_Data/clamp.csv +1589 -0
- multi_sessions_20251119_180541/session_001/Clamp_Data/clamp_data_tum.txt +1588 -0
- multi_sessions_20251119_180541/session_001/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_180541/session_001/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_180541/session_001/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_180541/session_001/RGB_Images/timestamps.csv +478 -0
- multi_sessions_20251119_180541/session_001/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_180541/session_001/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_180541/session_001/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_180541/session_001/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_180541/session_002/Clamp_Data/clamp.csv +1731 -0
- multi_sessions_20251119_180541/session_002/Clamp_Data/clamp_data_tum.txt +1730 -0
- multi_sessions_20251119_180541/session_002/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_180541/session_002/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_180541/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_180541/session_002/RGB_Images/timestamps.csv +521 -0
- multi_sessions_20251119_180541/session_002/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_180541/session_002/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_180541/session_002/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_180541/session_002/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_180541/session_003/Clamp_Data/clamp.csv +1768 -0
- multi_sessions_20251119_180541/session_003/Clamp_Data/clamp_data_tum.txt +1767 -0
- multi_sessions_20251119_180541/session_003/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_180541/session_003/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_180541/session_003/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_180541/session_003/RGB_Images/timestamps.csv +531 -0
- multi_sessions_20251119_180541/session_003/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_180541/session_003/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_180541/session_003/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_180541/session_003/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_180541/session_004/Clamp_Data/clamp.csv +1712 -0
- multi_sessions_20251119_180541/session_004/Clamp_Data/clamp_data_tum.txt +1711 -0
- multi_sessions_20251119_180541/session_004/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_180541/session_004/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_180541/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_180541/session_004/RGB_Images/timestamps.csv +514 -0
- multi_sessions_20251119_180541/session_004/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_180541/session_004/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_180541/session_004/Vive_Poses/offset_info.txt +18 -0
- multi_sessions_20251119_180541/session_004/Vive_Poses/vive_data_tum.txt +0 -0
- multi_sessions_20251119_180541/session_005/Clamp_Data/clamp.csv +1788 -0
- multi_sessions_20251119_180541/session_005/Clamp_Data/clamp_data_tum.txt +1787 -0
- multi_sessions_20251119_180541/session_005/Merged_Trajectory/merge_stats.txt +37 -0
- multi_sessions_20251119_180541/session_005/Merged_Trajectory/merged_trajectory.csv +0 -0
- multi_sessions_20251119_180541/session_005/Merged_Trajectory/merged_trajectory.txt +0 -0
- multi_sessions_20251119_180541/session_005/RGB_Images/timestamps.csv +537 -0
- multi_sessions_20251119_180541/session_005/RGB_Images/video.mp4 +3 -0
- multi_sessions_20251119_180541/session_005/SLAM_Poses/slam_raw.txt +0 -0
- multi_sessions_20251119_180541/session_005/Vive_Poses/offset_info.txt +18 -0
multi_sessions_20251119_180541/collection_summary.txt
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| 1 |
+
========================================
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| 2 |
+
多会话XVisio数据采集摘要（Buffered版本）
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| 3 |
+
========================================
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| 4 |
+
开始时间: 2025年 11月 19日 星期三 18:05:42 CST
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| 5 |
+
设备模式: 单设备
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| 6 |
+
设备数量: 1
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| 7 |
+
计划会话数: 5
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| 8 |
+
会话间隔: 3秒
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| 9 |
+
摘要目录: ./multi_sessions_20251119_180541
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| 10 |
+
ToF模式: off
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| 11 |
+
Python脚本: ./single_session_data_collector_buffered.py
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| 12 |
+
配置文件: ../start_process/config.json
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| 13 |
+
========================================
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| 14 |
+
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| 15 |
+
设备信息:
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| 16 |
+
XV序列号: 250801DR48FP25002087
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| 17 |
+
Vive序列号: LHR_B728E669
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| 18 |
+
设备标签: main
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| 19 |
+
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| 20 |
+
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| 21 |
+
==========================================
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| 22 |
+
会话 1 信息:
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| 23 |
+
==========================================
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| 24 |
+
开始时间: 2025年 11月 19日 星期三 18:05:42 CST
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| 25 |
+
输出目录: ./multi_sessions_20251119_180541/session_001
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| 26 |
+
结束时间: 2025年 11月 19日 星期三 18:05:58 CST
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| 27 |
+
持续时间: 16秒
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| 28 |
+
状态: 成功
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| 29 |
+
数据验证: 通过
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| 30 |
+
数据目录: ./multi_sessions_20251119_180541/session_001
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| 31 |
+
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| 32 |
+
==========================================
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| 33 |
+
会话 2 信息:
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| 34 |
+
==========================================
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| 35 |
+
开始时间: 2025年 11月 19日 星期三 18:06:04 CST
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| 36 |
+
输出目录: ./multi_sessions_20251119_180541/session_002
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| 37 |
+
结束时间: 2025年 11月 19日 星期三 18:06:22 CST
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| 38 |
+
持续时间: 18秒
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| 39 |
+
状态: 成功
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| 40 |
+
数据验证: 通过
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| 41 |
+
数据目录: ./multi_sessions_20251119_180541/session_002
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| 42 |
+
|
| 43 |
+
==========================================
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| 44 |
+
会话 3 信息:
|
| 45 |
+
==========================================
|
| 46 |
+
开始时间: 2025年 11月 19日 星期三 18:06:27 CST
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| 47 |
+
输出目录: ./multi_sessions_20251119_180541/session_003
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| 48 |
+
结束时间: 2025年 11月 19日 星期三 18:06:43 CST
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| 49 |
+
持续时间: 16秒
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| 50 |
+
状态: 成功
|
| 51 |
+
数据验证: 通过
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| 52 |
+
数据目录: ./multi_sessions_20251119_180541/session_003
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| 53 |
+
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| 54 |
+
==========================================
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| 55 |
+
会话 4 信息:
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| 56 |
+
==========================================
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| 57 |
+
开始时间: 2025年 11月 19日 星期三 18:06:49 CST
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| 58 |
+
输出目录: ./multi_sessions_20251119_180541/session_004
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| 59 |
+
结束时间: 2025年 11月 19日 星期三 18:07:04 CST
|
| 60 |
+
持续时间: 15秒
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| 61 |
+
状态: 成功
|
| 62 |
+
数据验证: 通过
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| 63 |
+
数据目录: ./multi_sessions_20251119_180541/session_004
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| 64 |
+
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| 65 |
+
==========================================
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| 66 |
+
会话 5 信息:
|
| 67 |
+
==========================================
|
| 68 |
+
开始时间: 2025年 11月 19日 星期三 18:07:10 CST
|
| 69 |
+
输出目录: ./multi_sessions_20251119_180541/session_005
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| 70 |
+
结束时间: 2025年 11月 19日 星期三 18:07:26 CST
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| 71 |
+
持续时间: 16秒
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| 72 |
+
状态: 成功
|
| 73 |
+
数据验证: 通过
|
| 74 |
+
数据目录: ./multi_sessions_20251119_180541/session_005
|
| 75 |
+
|
| 76 |
+
==========================================
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| 77 |
+
采集完成总结:
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| 78 |
+
==========================================
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| 79 |
+
完成时间: 2025年 11月 19日 星期三 18:07:26 CST
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| 80 |
+
成功会话数: 5
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| 81 |
+
失败会话数: 0
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| 82 |
+
总计划会话数: 5
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| 83 |
+
实际完成会话数: 5
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| 84 |
+
成功率: 100%
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| 85 |
+
|
| 86 |
+
数据目录结构:
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| 87 |
+
./multi_sessions_20251119_180541/
|
| 88 |
+
├─ session_001/
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| 89 |
+
├─ session_002/
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| 90 |
+
├─ session_003/
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| 91 |
+
├─ session_004/
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| 92 |
+
├─ session_005/
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| 93 |
+
└─ collection_summary.txt
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multi_sessions_20251119_180541/session_001/Clamp_Data/clamp.csv
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157347.469549,87.73124183004924
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|
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157347.481322,87.73124183004924
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157347.484543,87.73124183004924
|
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| 1589 |
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157347.499888,87.72216723757813
|
multi_sessions_20251119_180541/session_001/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1588 @@
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|
| 1 |
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157339.565995000 87.98494098711389
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| 2 |
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157339.569788000 87.98494098711389
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| 3 |
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157339.574716000 87.975893266592
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| 4 |
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157339.581154000 87.975893266592
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| 5 |
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157339.585465000 87.975893266592
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| 6 |
+
157339.589725000 87.975893266592
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| 7 |
+
157339.594727000 87.98494098711389
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| 8 |
+
157339.599755000 87.98494098711389
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| 9 |
+
157339.604721000 87.98494098711389
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| 10 |
+
157339.609728000 87.98494098711389
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| 11 |
+
157339.615789000 87.975893266592
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| 12 |
+
157339.619775000 87.975893266592
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| 13 |
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157339.625119000 87.975893266592
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| 14 |
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157339.631948000 87.975893266592
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| 15 |
+
157339.635671000 87.975893266592
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| 16 |
+
157339.640122000 87.975893266592
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| 17 |
+
157339.645944000 87.975893266592
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| 18 |
+
157339.649809000 87.975893266592
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| 19 |
+
157339.654754000 87.98494098711389
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| 20 |
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157339.659721000 87.975893266592
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| 21 |
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157339.666829000 87.975893266592
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| 22 |
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157339.670603000 87.98494098711389
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| 23 |
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157339.674715000 87.975893266592
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| 24 |
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157339.679795000 87.975893266592
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| 25 |
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157339.684989000 87.975893266592
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| 26 |
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157339.689719000 87.975893266592
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| 27 |
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157339.694707000 87.975893266592
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| 28 |
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157339.700161000 87.975893266592
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| 29 |
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157339.704730000 87.975893266592
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| 30 |
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157339.709715000 87.975893266592
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| 31 |
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157339.716519000 87.98494098711389
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| 32 |
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157339.719789000 87.975893266592
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| 33 |
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157339.724955000 87.98494098711389
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| 34 |
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157339.731821000 87.98494098711389
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| 35 |
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157339.735646000 87.98494098711389
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| 36 |
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157339.739880000 87.98494098711389
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| 37 |
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157339.745698000 87.98494098711389
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| 38 |
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157339.750654000 87.98494098711389
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| 39 |
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157339.754725000 87.98494098711389
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| 40 |
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157339.759791000 87.98494098711389
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| 41 |
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157339.766003000 87.98494098711389
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| 42 |
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157339.769728000 87.98494098711389
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| 43 |
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157339.774723000 87.98494098711389
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| 44 |
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157339.780346000 87.975893266592
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| 45 |
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157339.785589000 87.975893266592
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| 46 |
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157339.789723000 87.975893266592
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| 47 |
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157339.794725000 87.98494098711389
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| 48 |
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157339.799836000 87.98494098711389
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| 49 |
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157339.804725000 87.975893266592
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| 50 |
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157339.809733000 87.975893266592
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| 51 |
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157339.816417000 87.975893266592
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| 52 |
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157339.819764000 87.975893266592
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| 53 |
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157339.825163000 87.975893266592
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| 54 |
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157339.831984000 87.975893266592
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| 55 |
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157339.835614000 87.975893266592
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| 56 |
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157339.840127000 87.975893266592
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| 57 |
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157339.845705000 87.975893266592
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| 58 |
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157339.849743000 87.975893266592
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| 59 |
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157339.854764000 87.98494098711389
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157339.859727000 87.98494098711389
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| 61 |
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157339.866832000 87.98494098711389
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| 62 |
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157339.870607000 87.975893266592
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| 63 |
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157339.874720000 87.975893266592
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| 64 |
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157339.879869000 87.98494098711389
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| 65 |
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157339.885099000 87.98494098711389
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| 66 |
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157339.889722000 87.98494098711389
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| 67 |
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157339.894710000 87.975893266592
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| 68 |
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157339.899977000 87.975893266592
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| 69 |
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157339.904736000 87.975893266592
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| 70 |
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157339.909715000 87.98494098711389
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| 71 |
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157339.916409000 87.975893266592
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| 72 |
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157339.919817000 87.975893266592
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| 73 |
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157339.925019000 87.975893266592
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| 74 |
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157339.931799000 87.975893266592
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| 75 |
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157339.935644000 87.975893266592
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| 76 |
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157339.939803000 87.975893266592
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| 77 |
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157339.946010000 87.975893266592
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| 78 |
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157339.950779000 87.975893266592
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157339.954714000 87.975893266592
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| 80 |
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157339.959718000 87.975893266592
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157339.966071000 87.975893266592
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157339.969716000 87.975893266592
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157339.974712000 87.975893266592
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157339.980298000 87.975893266592
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157339.985386000 87.975893266592
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157339.989716000 87.975893266592
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| 87 |
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157339.994717000 87.975893266592
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| 88 |
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157339.999937000 87.98494098711389
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| 89 |
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157340.004713000 87.975893266592
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| 90 |
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157340.009720000 87.975893266592
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| 91 |
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157340.016390000 87.975893266592
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157340.019709000 87.975893266592
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| 93 |
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157340.025105000 87.975893266592
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| 94 |
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157340.031840000 87.975893266592
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| 95 |
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157340.035600000 87.975893266592
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| 96 |
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157340.039712000 87.98494098711389
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| 97 |
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157340.045371000 87.975893266592
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| 98 |
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157340.050372000 87.975893266592
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| 99 |
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157340.054719000 87.975893266592
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| 100 |
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157340.059716000 87.98494098711389
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| 101 |
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157340.065703000 87.98494098711389
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| 102 |
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157340.069720000 87.98494098711389
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| 103 |
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157340.074711000 87.98494098711389
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| 104 |
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157340.079741000 87.98494098711389
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| 105 |
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157340.084881000 87.98494098711389
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| 106 |
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157340.089712000 87.975893266592
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157340.094718000 87.975893266592
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| 108 |
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157340.100383000 87.975893266592
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| 109 |
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157340.105474000 87.975893266592
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| 110 |
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157340.114756000 87.83099908377069
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| 112 |
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157340.146388000 87.76753061726019
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157340.150166000 87.76753061726019
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157347.390015000 87.73124183004924
|
| 1567 |
+
157347.394610000 87.73124183004924
|
| 1568 |
+
157347.399617000 87.73124183004924
|
| 1569 |
+
157347.405872000 87.74031546436872
|
| 1570 |
+
157347.409628000 87.74031546436872
|
| 1571 |
+
157347.414948000 87.74031546436872
|
| 1572 |
+
157347.419610000 87.73124183004924
|
| 1573 |
+
157347.424558000 87.73124183004924
|
| 1574 |
+
157347.429626000 87.73124183004924
|
| 1575 |
+
157347.434568000 87.73124183004924
|
| 1576 |
+
157347.439607000 87.73124183004924
|
| 1577 |
+
157347.448022000 87.73124183004924
|
| 1578 |
+
157347.451422000 87.73124183004924
|
| 1579 |
+
157347.454576000 87.73124183004924
|
| 1580 |
+
157347.459577000 87.73124183004924
|
| 1581 |
+
157347.465939000 87.73124183004924
|
| 1582 |
+
157347.469549000 87.73124183004924
|
| 1583 |
+
157347.474543000 87.73124183004924
|
| 1584 |
+
157347.481322000 87.73124183004924
|
| 1585 |
+
157347.484543000 87.73124183004924
|
| 1586 |
+
157347.489857000 87.73124183004924
|
| 1587 |
+
157347.494712000 87.72216723757813
|
| 1588 |
+
157347.499888000 87.72216723757813
|
multi_sessions_20251119_180541/session_001/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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| 1 |
+
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
融合频率: 120 Hz
|
| 7 |
+
时间匹配阈值: 0.01 s
|
| 8 |
+
基准传感器: VIVE (100Hz)
|
| 9 |
+
辅助传感器: SLAM (500Hz)
|
| 10 |
+
|
| 11 |
+
融合策略:
|
| 12 |
+
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
+
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
+
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
+
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
+
|
| 17 |
+
融合结果统计:
|
| 18 |
+
总融合点数: 793
|
| 19 |
+
均值融合 (都低速): 793
|
| 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 18:05:55
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_180541/session_001/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_001/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_001/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,478 @@
|
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|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
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|
| 1 |
+
frame_index,timestamp
|
| 2 |
+
0,157339.551242
|
| 3 |
+
1,157339.566257
|
| 4 |
+
2,157339.582682
|
| 5 |
+
3,157339.598279
|
| 6 |
+
4,157339.615958
|
| 7 |
+
5,157339.632097
|
| 8 |
+
6,157339.649202
|
| 9 |
+
7,157339.666183
|
| 10 |
+
8,157339.683004
|
| 11 |
+
9,157339.69854
|
| 12 |
+
10,157339.71586
|
| 13 |
+
11,157339.731988
|
| 14 |
+
12,157339.748719
|
| 15 |
+
13,157339.766237
|
| 16 |
+
14,157339.782729
|
| 17 |
+
15,157339.798272
|
| 18 |
+
16,157339.815835
|
| 19 |
+
17,157339.832137
|
| 20 |
+
18,157339.849212
|
| 21 |
+
19,157339.865977
|
| 22 |
+
20,157339.882981
|
| 23 |
+
21,157339.898634
|
| 24 |
+
22,157339.91582
|
| 25 |
+
23,157339.931941
|
| 26 |
+
24,157339.948828
|
| 27 |
+
25,157339.966345
|
| 28 |
+
26,157339.982774
|
| 29 |
+
27,157339.998367
|
| 30 |
+
28,157340.015643
|
| 31 |
+
29,157340.032139
|
| 32 |
+
30,157340.049147
|
| 33 |
+
31,157340.066067
|
| 34 |
+
32,157340.082952
|
| 35 |
+
33,157340.098337
|
| 36 |
+
34,157340.115723
|
| 37 |
+
35,157340.131883
|
| 38 |
+
36,157340.148656
|
| 39 |
+
37,157340.166156
|
| 40 |
+
38,157340.182701
|
| 41 |
+
39,157340.198203
|
| 42 |
+
40,157340.221983
|
| 43 |
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41,157340.232503
|
| 44 |
+
42,157340.249687
|
| 45 |
+
43,157340.265983
|
| 46 |
+
44,157340.283011
|
| 47 |
+
45,157340.298168
|
| 48 |
+
46,157340.316062
|
| 49 |
+
47,157340.331767
|
| 50 |
+
48,157340.348744
|
| 51 |
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49,157340.366195
|
| 52 |
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50,157340.382838
|
| 53 |
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51,157340.398244
|
| 54 |
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52,157340.421684
|
| 55 |
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53,157340.432364
|
| 56 |
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54,157340.449861
|
| 57 |
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55,157340.466073
|
| 58 |
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56,157340.482362
|
| 59 |
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|
| 60 |
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58,157340.515764
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| 61 |
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| 62 |
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60,157340.550527
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| 63 |
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61,157340.566028
|
| 64 |
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62,157340.582852
|
| 65 |
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63,157340.598299
|
| 66 |
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|
| 67 |
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65,157340.631614
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| 68 |
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66,157340.649663
|
| 69 |
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67,157340.665876
|
| 70 |
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68,157340.682544
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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72,157340.748651
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| 75 |
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| 76 |
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74,157340.782838
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| 77 |
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| 78 |
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76,157340.815435
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| 79 |
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|
| 80 |
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78,157340.85089
|
| 81 |
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79,157340.865952
|
| 82 |
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80,157340.882561
|
| 83 |
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81,157340.898038
|
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multi_sessions_20251119_180541/session_001/RGB_Images/video.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:3c49329c23d3a255ea6e75ef4cd81a3130afe319981416b8f6825fb7aa10535d
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size 3416391
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multi_sessions_20251119_180541/session_001/SLAM_Poses/slam_raw.txt
ADDED
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_180541/session_001/Vive_Poses/offset_info.txt
ADDED
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@@ -0,0 +1,18 @@
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Vive 时间戳对齐信息
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============================================================
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对齐参数:
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SLAM 第一帧时间戳: 157339.563460s
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Vive 第一帧时间戳: 1763546745.447514s
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计算的 offset: -1763389405.884054s
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对齐公式: vive_aligned = vive_original + -1763389405.884054
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说明:
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- 所有保存的 Vive 数据已使用对齐后的时间戳
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- 时间戳已与 SLAM 数据对齐
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- 坐标已转换到 Gripper 坐标系
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生成时间: 2025-11-19 18:05:55
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设备标签: main
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XV 序列号: 250801DR48FP25002087
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Vive 序列号: LHR_B728E669
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multi_sessions_20251119_180541/session_001/Vive_Poses/vive_data_tum.txt
ADDED
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_180541/session_002/Clamp_Data/clamp.csv
ADDED
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@@ -0,0 +1,1731 @@
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157370.90915,87.00225656812181
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| 1700 |
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157370.914292,87.00225656812181
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157370.964071,87.00225656812181
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157370.96933,87.00225656812181
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157370.974623,87.00225656812181
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| 1713 |
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157370.979199,87.00225656812181
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157370.994251,86.9931056995459
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157370.999045,86.9931056995459
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157371.004486,86.9931056995459
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157371.00908,86.9931056995459
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157371.014604,86.9931056995459
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157371.019047,86.9931056995459
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157371.026631,86.9931056995459
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157371.029912,86.9931056995459
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157371.034042,86.9931056995459
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157371.039052,86.9931056995459
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| 1726 |
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157371.044053,86.9931056995459
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| 1727 |
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157371.049045,86.9931056995459
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| 1728 |
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157371.054041,86.9931056995459
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| 1729 |
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157371.060652,86.9931056995459
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| 1730 |
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157371.06405,86.9931056995459
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| 1731 |
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157371.069047,86.9931056995459
|
multi_sessions_20251119_180541/session_002/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1730 @@
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|
| 1 |
+
157362.424346000 87.83099908377069
|
| 2 |
+
157362.429466000 87.83099908377069
|
| 3 |
+
157362.434260000 87.82193503733029
|
| 4 |
+
157362.439242000 87.82193503733029
|
| 5 |
+
157362.444750000 87.83099908377069
|
| 6 |
+
157362.449238000 87.83099908377069
|
| 7 |
+
157362.454293000 87.83099908377069
|
| 8 |
+
157362.461341000 87.82193503733029
|
| 9 |
+
157362.465118000 87.82193503733029
|
| 10 |
+
157362.469287000 87.82193503733029
|
| 11 |
+
157362.474334000 87.83099908377069
|
| 12 |
+
157362.479439000 87.82193503733029
|
| 13 |
+
157362.484240000 87.82193503733029
|
| 14 |
+
157362.489241000 87.82193503733029
|
| 15 |
+
157362.495252000 87.82193503733029
|
| 16 |
+
157362.499247000 87.82193503733029
|
| 17 |
+
157362.505187000 87.82193503733029
|
| 18 |
+
157362.509301000 87.82193503733029
|
| 19 |
+
157362.514236000 87.83099908377069
|
| 20 |
+
157362.519249000 87.83099908377069
|
| 21 |
+
157362.524332000 87.83099908377069
|
| 22 |
+
157362.529280000 87.83099908377069
|
| 23 |
+
157362.534243000 87.82193503733029
|
| 24 |
+
157362.539468000 87.83099908377069
|
| 25 |
+
157362.545264000 87.83099908377069
|
| 26 |
+
157362.549240000 87.83099908377069
|
| 27 |
+
157362.554235000 87.83099908377069
|
| 28 |
+
157362.559570000 87.83099908377069
|
| 29 |
+
157362.564247000 87.83099908377069
|
| 30 |
+
157362.569239000 87.83099908377069
|
| 31 |
+
157362.574274000 87.82193503733029
|
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157370.969330000 87.00225656812181
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157371.029912000 86.9931056995459
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157371.034042000 86.9931056995459
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157371.039052000 86.9931056995459
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157371.044053000 86.9931056995459
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| 1726 |
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| 1728 |
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157371.060652000 86.9931056995459
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| 1729 |
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157371.064050000 86.9931056995459
|
| 1730 |
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157371.069047000 86.9931056995459
|
multi_sessions_20251119_180541/session_002/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
融合频率: 120 Hz
|
| 7 |
+
时间匹配阈值: 0.01 s
|
| 8 |
+
基准传感器: VIVE (100Hz)
|
| 9 |
+
辅助传感器: SLAM (500Hz)
|
| 10 |
+
|
| 11 |
+
融合策略:
|
| 12 |
+
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
+
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
+
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
+
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
+
|
| 17 |
+
融合结果统计:
|
| 18 |
+
总融合点数: 865
|
| 19 |
+
均值融合 (都低速): 865
|
| 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 18:06:18
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_180541/session_002/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
|
multi_sessions_20251119_180541/session_002/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
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|
multi_sessions_20251119_180541/session_002/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,521 @@
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|
multi_sessions_20251119_180541/session_002/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
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|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:00e8e27310b870a875f0e8bf5dd8657607d5a53fba36cf731cd2b81652be177a
|
| 3 |
+
size 3695251
|
multi_sessions_20251119_180541/session_002/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_002/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 157362.423459s
|
| 6 |
+
Vive 第一帧时间戳: 1763546768.307659s
|
| 7 |
+
计算的 offset: -1763389405.884200s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.884200
|
| 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 18:06:18
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_180541/session_002/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_003/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1768 @@
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| 1 |
+
timestamp,clamp
|
| 2 |
+
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157392.178644,87.70401517864401
|
| 1749 |
+
157392.184245,87.71309168707114
|
| 1750 |
+
157392.188992,87.71309168707114
|
| 1751 |
+
157392.193596,87.71309168707114
|
| 1752 |
+
157392.198594,87.71309168707114
|
| 1753 |
+
157392.20551,87.71309168707114
|
| 1754 |
+
157392.208592,87.71309168707114
|
| 1755 |
+
157392.213588,87.70401517864401
|
| 1756 |
+
157392.219463,87.70401517864401
|
| 1757 |
+
157392.224098,87.70401517864401
|
| 1758 |
+
157392.228591,87.70401517864401
|
| 1759 |
+
157392.233584,87.71309168707114
|
| 1760 |
+
157392.240307,87.71309168707114
|
| 1761 |
+
157392.243609,87.71309168707114
|
| 1762 |
+
157392.248638,87.71309168707114
|
| 1763 |
+
157392.256046,87.71309168707114
|
| 1764 |
+
157392.259504,87.71309168707114
|
| 1765 |
+
157392.263608,87.71309168707114
|
| 1766 |
+
157392.268614,87.71309168707114
|
| 1767 |
+
157392.273608,87.71309168707114
|
| 1768 |
+
157392.278594,87.71309168707114
|
multi_sessions_20251119_180541/session_003/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1767 @@
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+
157392.148592000 87.70401517864401
|
| 1742 |
+
157392.155350000 87.70401517864401
|
| 1743 |
+
157392.158610000 87.69493771241248
|
| 1744 |
+
157392.164165000 87.70401517864401
|
| 1745 |
+
157392.168641000 87.70401517864401
|
| 1746 |
+
157392.173587000 87.71309168707114
|
| 1747 |
+
157392.178644000 87.70401517864401
|
| 1748 |
+
157392.184245000 87.71309168707114
|
| 1749 |
+
157392.188992000 87.71309168707114
|
| 1750 |
+
157392.193596000 87.71309168707114
|
| 1751 |
+
157392.198594000 87.71309168707114
|
| 1752 |
+
157392.205510000 87.71309168707114
|
| 1753 |
+
157392.208592000 87.71309168707114
|
| 1754 |
+
157392.213588000 87.70401517864401
|
| 1755 |
+
157392.219463000 87.70401517864401
|
| 1756 |
+
157392.224098000 87.70401517864401
|
| 1757 |
+
157392.228591000 87.70401517864401
|
| 1758 |
+
157392.233584000 87.71309168707114
|
| 1759 |
+
157392.240307000 87.71309168707114
|
| 1760 |
+
157392.243609000 87.71309168707114
|
| 1761 |
+
157392.248638000 87.71309168707114
|
| 1762 |
+
157392.256046000 87.71309168707114
|
| 1763 |
+
157392.259504000 87.71309168707114
|
| 1764 |
+
157392.263608000 87.71309168707114
|
| 1765 |
+
157392.268614000 87.71309168707114
|
| 1766 |
+
157392.273608000 87.71309168707114
|
| 1767 |
+
157392.278594000 87.71309168707114
|
multi_sessions_20251119_180541/session_003/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
| 1 |
+
轨迹融合统计信息（基于速度的动态融合）
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
融合配置:
|
| 5 |
+
速度阈值: 1.0 m/s
|
| 6 |
+
融合频率: 120 Hz
|
| 7 |
+
时间匹配阈值: 0.01 s
|
| 8 |
+
基准传感器: VIVE (100Hz)
|
| 9 |
+
辅助传感器: SLAM (500Hz)
|
| 10 |
+
|
| 11 |
+
融合策略:
|
| 12 |
+
1. 都低速 → 均值融合 (SLERP)
|
| 13 |
+
2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
|
| 14 |
+
3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
|
| 15 |
+
4. 都高速 → 不输出（跳过该帧）
|
| 16 |
+
|
| 17 |
+
融合结果统计:
|
| 18 |
+
总融合点数: 884
|
| 19 |
+
均值融合 (都低速): 884
|
| 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 18:06:40
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_180541/session_003/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_003/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_003/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,531 @@
|
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|
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|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
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|
| 1 |
+
frame_index,timestamp
|
| 2 |
+
0,157383.440777
|
| 3 |
+
1,157383.456902
|
| 4 |
+
2,157383.473765
|
| 5 |
+
3,157383.49105
|
| 6 |
+
4,157383.507333
|
| 7 |
+
5,157383.523763
|
| 8 |
+
6,157383.540324
|
| 9 |
+
7,157383.557188
|
| 10 |
+
8,157383.573909
|
| 11 |
+
9,157383.590566
|
| 12 |
+
10,157383.610285
|
| 13 |
+
11,157383.623695
|
| 14 |
+
12,157383.641985
|
| 15 |
+
13,157383.65699
|
| 16 |
+
14,157383.673631
|
| 17 |
+
15,157383.690583
|
| 18 |
+
16,157383.710308
|
| 19 |
+
17,157383.723628
|
| 20 |
+
18,157383.745048
|
| 21 |
+
19,157383.757532
|
| 22 |
+
20,157383.77423
|
| 23 |
+
21,157383.790668
|
| 24 |
+
22,157383.806905
|
| 25 |
+
23,157383.824575
|
| 26 |
+
24,157383.843151
|
| 27 |
+
25,157383.857637
|
| 28 |
+
26,157383.873508
|
| 29 |
+
27,157383.890519
|
| 30 |
+
28,157383.911617
|
| 31 |
+
29,157383.923586
|
| 32 |
+
30,157383.9451
|
| 33 |
+
31,157383.957479
|
| 34 |
+
32,157383.978718
|
| 35 |
+
33,157383.990905
|
| 36 |
+
34,157384.008742
|
| 37 |
+
35,157384.023857
|
| 38 |
+
36,157384.045126
|
| 39 |
+
37,157384.057311
|
| 40 |
+
38,157384.073764
|
| 41 |
+
39,157384.090482
|
| 42 |
+
40,157384.111659
|
| 43 |
+
41,157384.123634
|
| 44 |
+
42,157384.140397
|
| 45 |
+
43,157384.157051
|
| 46 |
+
44,157384.173964
|
| 47 |
+
45,157384.190681
|
| 48 |
+
46,157384.206843
|
| 49 |
+
47,157384.22353
|
| 50 |
+
48,157384.241979
|
| 51 |
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49,157384.256922
|
| 52 |
+
50,157384.273657
|
| 53 |
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51,157384.290645
|
| 54 |
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52,157384.311567
|
| 55 |
+
53,157384.323691
|
| 56 |
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54,157384.342654
|
| 57 |
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55,157384.356804
|
| 58 |
+
56,157384.373512
|
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| 457 |
+
455,157391.022098
|
| 458 |
+
456,157391.039526
|
| 459 |
+
457,157391.055762
|
| 460 |
+
458,157391.072721
|
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+
459,157391.08896
|
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+
460,157391.106171
|
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+
461,157391.122101
|
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+
462,157391.139792
|
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+
463,157391.155647
|
| 466 |
+
464,157391.172577
|
| 467 |
+
465,157391.188872
|
| 468 |
+
466,157391.206281
|
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+
467,157391.222152
|
| 470 |
+
468,157391.239612
|
| 471 |
+
469,157391.255608
|
| 472 |
+
470,157391.272646
|
| 473 |
+
471,157391.288875
|
| 474 |
+
472,157391.306004
|
| 475 |
+
473,157391.322545
|
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+
474,157391.339608
|
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+
475,157391.356142
|
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+
476,157391.372518
|
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|
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|
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479,157391.422168
|
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480,157391.439483
|
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+
481,157391.45593
|
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+
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|
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483,157391.488964
|
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484,157391.505935
|
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485,157391.522287
|
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|
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+
487,157391.555643
|
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488,157391.572385
|
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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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492,157391.63931
|
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493,157391.655489
|
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+
494,157391.672186
|
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+
495,157391.689082
|
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+
496,157391.706067
|
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+
497,157391.721885
|
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+
498,157391.739643
|
| 501 |
+
499,157391.755896
|
| 502 |
+
500,157391.772454
|
| 503 |
+
501,157391.788583
|
| 504 |
+
502,157391.805762
|
| 505 |
+
503,157391.822447
|
| 506 |
+
504,157391.83935
|
| 507 |
+
505,157391.855553
|
| 508 |
+
506,157391.87224
|
| 509 |
+
507,157391.889009
|
| 510 |
+
508,157391.906204
|
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+
509,157391.921836
|
| 512 |
+
510,157391.939676
|
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+
511,157391.955871
|
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+
512,157391.974037
|
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+
513,157391.988582
|
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+
514,157392.005748
|
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515,157392.022522
|
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516,157392.039583
|
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517,157392.055383
|
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+
518,157392.072078
|
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519,157392.08887
|
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520,157392.106067
|
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521,157392.121888
|
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522,157392.139224
|
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523,157392.15547
|
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524,157392.172269
|
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525,157392.188521
|
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526,157392.205761
|
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527,157392.221971
|
| 530 |
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528,157392.239744
|
| 531 |
+
529,157392.255431
|
multi_sessions_20251119_180541/session_003/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:29e7f3a4f3522cf49bc8374448cae1e825ea29446c6a0ebea99e357682787a88
|
| 3 |
+
size 3611745
|
multi_sessions_20251119_180541/session_003/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_003/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
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|
| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 157383.447456s
|
| 6 |
+
Vive 第一帧时间戳: 1763546789.327500s
|
| 7 |
+
计算的 offset: -1763389405.880044s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.880044
|
| 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 18:06:40
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_180541/session_003/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_004/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1712 @@
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|
| 1684 |
+
157413.633221,87.62228351549781
|
| 1685 |
+
157413.638965,87.62228351549781
|
| 1686 |
+
157413.643154,87.62228351549781
|
| 1687 |
+
157413.648168,87.63136863999556
|
| 1688 |
+
157413.653215,87.63136863999556
|
| 1689 |
+
157413.658158,87.63136863999556
|
| 1690 |
+
157413.663578,87.62228351549781
|
| 1691 |
+
157413.668179,87.62228351549781
|
| 1692 |
+
157413.673154,87.62228351549781
|
| 1693 |
+
157413.678159,87.63136863999556
|
| 1694 |
+
157413.685343,87.62228351549781
|
| 1695 |
+
157413.689014,87.62228351549781
|
| 1696 |
+
157413.693155,87.62228351549781
|
| 1697 |
+
157413.698476,87.63136863999556
|
| 1698 |
+
157413.703459,87.62228351549781
|
| 1699 |
+
157413.708191,87.62228351549781
|
| 1700 |
+
157413.713151,87.62228351549781
|
| 1701 |
+
157413.71946,87.62228351549781
|
| 1702 |
+
157413.723193,87.62228351549781
|
| 1703 |
+
157413.728149,87.62228351549781
|
| 1704 |
+
157413.73545,87.62228351549781
|
| 1705 |
+
157413.739012,87.62228351549781
|
| 1706 |
+
157413.743158,87.62228351549781
|
| 1707 |
+
157413.748162,87.62228351549781
|
| 1708 |
+
157413.753149,87.62228351549781
|
| 1709 |
+
157413.758155,87.62228351549781
|
| 1710 |
+
157413.76373,87.62228351549781
|
| 1711 |
+
157413.768225,87.62228351549781
|
| 1712 |
+
157413.77315,87.62228351549781
|
multi_sessions_20251119_180541/session_004/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1711 @@
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| 1 |
+
157405.224146000 87.71309168707114
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| 1676 |
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|
| 1677 |
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157413.603656000 87.63136863999556
|
| 1678 |
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|
| 1679 |
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|
| 1680 |
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157413.619182000 87.62228351549781
|
| 1681 |
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157413.623162000 87.61319743423809
|
| 1682 |
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157413.628160000 87.61319743423809
|
| 1683 |
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|
| 1684 |
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| 1685 |
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|
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|
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| 1690 |
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|
| 1691 |
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|
| 1692 |
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157413.678159000 87.63136863999556
|
| 1693 |
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157413.685343000 87.62228351549781
|
| 1694 |
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157413.689014000 87.62228351549781
|
| 1695 |
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157413.693155000 87.62228351549781
|
| 1696 |
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|
| 1697 |
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157413.703459000 87.62228351549781
|
| 1698 |
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157413.708191000 87.62228351549781
|
| 1699 |
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157413.713151000 87.62228351549781
|
| 1700 |
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157413.719460000 87.62228351549781
|
| 1701 |
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157413.723193000 87.62228351549781
|
| 1702 |
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157413.728149000 87.62228351549781
|
| 1703 |
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157413.735450000 87.62228351549781
|
| 1704 |
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157413.739012000 87.62228351549781
|
| 1705 |
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157413.743158000 87.62228351549781
|
| 1706 |
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157413.748162000 87.62228351549781
|
| 1707 |
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157413.753149000 87.62228351549781
|
| 1708 |
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157413.758155000 87.62228351549781
|
| 1709 |
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157413.763730000 87.62228351549781
|
| 1710 |
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157413.768225000 87.62228351549781
|
| 1711 |
+
157413.773150000 87.62228351549781
|
multi_sessions_20251119_180541/session_004/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
| 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: 855
|
| 19 |
+
均值融合 (都低速): 855
|
| 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 18:07:01
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_180541/session_004/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_004/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_004/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,514 @@
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| 1 |
+
frame_index,timestamp
|
| 2 |
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multi_sessions_20251119_180541/session_004/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4beb6e810170bbecce63346a9d2ad27cb75172751764d5fda7beb2ba30a039ab
|
| 3 |
+
size 3671285
|
multi_sessions_20251119_180541/session_004/SLAM_Poses/slam_raw.txt
ADDED
|
The diff for this file is too large to render.
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|
|
|
multi_sessions_20251119_180541/session_004/Vive_Poses/offset_info.txt
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
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| 1 |
+
Vive 时间戳对齐信息
|
| 2 |
+
============================================================
|
| 3 |
+
|
| 4 |
+
对齐参数:
|
| 5 |
+
SLAM 第一帧时间戳: 157405.225462s
|
| 6 |
+
Vive 第一帧时间戳: 1763546811.107577s
|
| 7 |
+
计算的 offset: -1763389405.882115s
|
| 8 |
+
对齐公式: vive_aligned = vive_original + -1763389405.882115
|
| 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 18:07:01
|
| 16 |
+
设备标签: main
|
| 17 |
+
XV 序列号: 250801DR48FP25002087
|
| 18 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_180541/session_004/Vive_Poses/vive_data_tum.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_005/Clamp_Data/clamp.csv
ADDED
|
@@ -0,0 +1,1788 @@
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157434.427774,87.74938814042085
|
| 1668 |
+
157434.432708,87.74031546436872
|
| 1669 |
+
157434.437716,87.74031546436872
|
| 1670 |
+
157434.443129,87.74031546436872
|
| 1671 |
+
157434.447982,87.74031546436872
|
| 1672 |
+
157434.452715,87.74031546436872
|
| 1673 |
+
157434.45771,87.74031546436872
|
| 1674 |
+
157434.465322,87.74031546436872
|
| 1675 |
+
157434.468554,87.74031546436872
|
| 1676 |
+
157434.472835,87.74031546436872
|
| 1677 |
+
157434.477826,87.74031546436872
|
| 1678 |
+
157434.48399,87.74031546436872
|
| 1679 |
+
157434.48774,87.74031546436872
|
| 1680 |
+
157434.492703,87.74031546436872
|
| 1681 |
+
157434.498666,87.73124183004924
|
| 1682 |
+
157434.502705,87.73124183004924
|
| 1683 |
+
157434.507771,87.73124183004924
|
| 1684 |
+
157434.512762,87.74031546436872
|
| 1685 |
+
157434.517764,87.74031546436872
|
| 1686 |
+
157434.523689,87.74031546436872
|
| 1687 |
+
157434.527712,87.74031546436872
|
| 1688 |
+
157434.532706,87.74031546436872
|
| 1689 |
+
157434.537713,87.73124183004924
|
| 1690 |
+
157434.543779,87.74031546436872
|
| 1691 |
+
157434.547941,87.74031546436872
|
| 1692 |
+
157434.552711,87.74938814042085
|
| 1693 |
+
157434.557715,87.74031546436872
|
| 1694 |
+
157434.564745,87.74031546436872
|
| 1695 |
+
157434.56856,87.74031546436872
|
| 1696 |
+
157434.572705,87.74031546436872
|
| 1697 |
+
157434.57772,87.73124183004924
|
| 1698 |
+
157434.583288,87.73124183004924
|
| 1699 |
+
157434.587715,87.73124183004924
|
| 1700 |
+
157434.592727,87.73124183004924
|
| 1701 |
+
157434.599061,87.74031546436872
|
| 1702 |
+
157434.602749,87.74031546436872
|
| 1703 |
+
157434.607707,87.74031546436872
|
| 1704 |
+
157434.612726,87.74031546436872
|
| 1705 |
+
157434.618336,87.74031546436872
|
| 1706 |
+
157434.622707,87.74031546436872
|
| 1707 |
+
157434.627716,87.74031546436872
|
| 1708 |
+
157434.632707,87.74031546436872
|
| 1709 |
+
157434.637713,87.74031546436872
|
| 1710 |
+
157434.643962,87.74031546436872
|
| 1711 |
+
157434.647968,87.74031546436872
|
| 1712 |
+
157434.652786,87.74031546436872
|
| 1713 |
+
157434.657699,87.74031546436872
|
| 1714 |
+
157434.665308,87.74031546436872
|
| 1715 |
+
157434.668546,87.74031546436872
|
| 1716 |
+
157434.672698,87.74031546436872
|
| 1717 |
+
157434.677709,87.74031546436872
|
| 1718 |
+
157434.683367,87.74031546436872
|
| 1719 |
+
157434.687754,87.74031546436872
|
| 1720 |
+
157434.692693,87.74031546436872
|
| 1721 |
+
157434.698684,87.74031546436872
|
| 1722 |
+
157434.702695,87.74031546436872
|
| 1723 |
+
157434.7077,87.74031546436872
|
| 1724 |
+
157434.712715,87.74031546436872
|
| 1725 |
+
157434.717815,87.74938814042085
|
| 1726 |
+
157434.722695,87.74031546436872
|
| 1727 |
+
157434.7279,87.74031546436872
|
| 1728 |
+
157434.732874,87.74031546436872
|
| 1729 |
+
157434.737849,87.74031546436872
|
| 1730 |
+
157434.743101,87.74031546436872
|
| 1731 |
+
157434.747884,87.74031546436872
|
| 1732 |
+
157434.752704,87.74031546436872
|
| 1733 |
+
157434.757719,87.74031546436872
|
| 1734 |
+
157434.76477,87.74031546436872
|
| 1735 |
+
157434.768599,87.74031546436872
|
| 1736 |
+
157434.772696,87.74031546436872
|
| 1737 |
+
157434.777977,87.74031546436872
|
| 1738 |
+
157434.783603,87.74031546436872
|
| 1739 |
+
157434.7877,87.74031546436872
|
| 1740 |
+
157434.792742,87.74938814042085
|
| 1741 |
+
157434.797792,87.74938814042085
|
| 1742 |
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157434.802699,87.74031546436872
|
| 1743 |
+
157434.807701,87.74031546436872
|
| 1744 |
+
157434.815731,87.74031546436872
|
| 1745 |
+
157434.819561,87.74938814042085
|
| 1746 |
+
157434.822696,87.74938814042085
|
| 1747 |
+
157434.827719,87.74031546436872
|
| 1748 |
+
157434.832698,87.74938814042085
|
| 1749 |
+
157434.837703,87.74031546436872
|
| 1750 |
+
157434.843344,87.74938814042085
|
| 1751 |
+
157434.84804,87.74938814042085
|
| 1752 |
+
157434.852712,87.74938814042085
|
| 1753 |
+
157434.857753,87.74938814042085
|
| 1754 |
+
157434.864392,87.74031546436872
|
| 1755 |
+
157434.867734,87.74031546436872
|
| 1756 |
+
157434.873135,87.74031546436872
|
| 1757 |
+
157434.877705,87.74031546436872
|
| 1758 |
+
157434.883613,87.74031546436872
|
| 1759 |
+
157434.887764,87.74031546436872
|
| 1760 |
+
157434.892697,87.74938814042085
|
| 1761 |
+
157434.898717,87.74031546436872
|
| 1762 |
+
157434.902698,87.74938814042085
|
| 1763 |
+
157434.907702,87.74031546436872
|
| 1764 |
+
157434.912713,87.74031546436872
|
| 1765 |
+
157434.91771,87.74031546436872
|
| 1766 |
+
157434.922701,87.74031546436872
|
| 1767 |
+
157434.927812,87.74031546436872
|
| 1768 |
+
157434.932699,87.74031546436872
|
| 1769 |
+
157434.937743,87.74031546436872
|
| 1770 |
+
157434.943135,87.74031546436872
|
| 1771 |
+
157434.947853,87.74938814042085
|
| 1772 |
+
157434.952768,87.74031546436872
|
| 1773 |
+
157434.957701,87.74031546436872
|
| 1774 |
+
157434.965221,87.74031546436872
|
| 1775 |
+
157434.968618,87.74031546436872
|
| 1776 |
+
157434.97303,87.74031546436872
|
| 1777 |
+
157434.977702,87.74031546436872
|
| 1778 |
+
157434.983233,87.74938814042085
|
| 1779 |
+
157434.987703,87.74031546436872
|
| 1780 |
+
157434.992697,87.74031546436872
|
| 1781 |
+
157434.99933,87.74031546436872
|
| 1782 |
+
157435.002698,87.74031546436872
|
| 1783 |
+
157435.007704,87.74031546436872
|
| 1784 |
+
157435.015452,87.74031546436872
|
| 1785 |
+
157435.018655,87.74031546436872
|
| 1786 |
+
157435.022714,87.74031546436872
|
| 1787 |
+
157435.027708,87.74031546436872
|
| 1788 |
+
157435.03274,87.74938814042085
|
multi_sessions_20251119_180541/session_005/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1787 @@
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157434.802699000 87.74031546436872
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157434.819561000 87.74938814042085
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157434.837703000 87.74031546436872
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157434.857753000 87.74938814042085
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157434.864392000 87.74031546436872
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157434.873135000 87.74031546436872
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157434.883613000 87.74031546436872
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157434.887764000 87.74031546436872
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157434.892697000 87.74938814042085
|
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157434.898717000 87.74031546436872
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157434.902698000 87.74938814042085
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157434.907702000 87.74031546436872
|
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157434.912713000 87.74031546436872
|
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157434.917710000 87.74031546436872
|
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| 1766 |
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157434.927812000 87.74031546436872
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| 1767 |
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157434.932699000 87.74031546436872
|
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157434.937743000 87.74031546436872
|
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157434.943135000 87.74031546436872
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157434.947853000 87.74938814042085
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157434.952768000 87.74031546436872
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157434.957701000 87.74031546436872
|
| 1773 |
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157434.965221000 87.74031546436872
|
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157434.968618000 87.74031546436872
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| 1775 |
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157434.973030000 87.74031546436872
|
| 1776 |
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157434.977702000 87.74031546436872
|
| 1777 |
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157434.983233000 87.74938814042085
|
| 1778 |
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157434.987703000 87.74031546436872
|
| 1779 |
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157434.992697000 87.74031546436872
|
| 1780 |
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157434.999330000 87.74031546436872
|
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157435.002698000 87.74031546436872
|
| 1782 |
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157435.007704000 87.74031546436872
|
| 1783 |
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157435.015452000 87.74031546436872
|
| 1784 |
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157435.018655000 87.74031546436872
|
| 1785 |
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157435.022714000 87.74031546436872
|
| 1786 |
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157435.027708000 87.74031546436872
|
| 1787 |
+
157435.032740000 87.74938814042085
|
multi_sessions_20251119_180541/session_005/Merged_Trajectory/merge_stats.txt
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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: 893
|
| 19 |
+
均值融合 (都低速): 893
|
| 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 18:07:22
|
| 35 |
+
设备标签: main
|
| 36 |
+
XV 序列号: 250801DR48FP25002087
|
| 37 |
+
Vive 序列号: LHR_B728E669
|
multi_sessions_20251119_180541/session_005/Merged_Trajectory/merged_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_005/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
multi_sessions_20251119_180541/session_005/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,537 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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multi_sessions_20251119_180541/session_005/RGB_Images/video.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:225c52aa79a5f92684cc3e32721048feb4004d299e00173e435eda7b12d93f4f
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size 3810029
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multi_sessions_20251119_180541/session_005/SLAM_Poses/slam_raw.txt
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The diff for this file is too large to render.
See raw diff
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multi_sessions_20251119_180541/session_005/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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对齐参数:
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| 5 |
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SLAM 第一帧时间戳: 157426.101458s
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| 6 |
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Vive 第一帧时间戳: 1763546831.987436s
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| 7 |
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计算的 offset: -1763389405.885978s
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| 8 |
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对齐公式: vive_aligned = vive_original + -1763389405.885978
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说明:
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- 所有保存的 Vive 数据已使用对齐后的时间戳
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| 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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生成时间: 2025-11-19 18:07:22
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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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Vive 序列号: LHR_B728E669
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