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Datasets:
FastUMIPro
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example_data_fastumi_pro_raw

Tasks:
Robotics
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Languages:
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Tags:
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manipulation
vla
trajectory-data
multimodal
vision-language-action
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  1. multi_sessions_20251119_183701/collection_summary.txt +93 -0
  2. multi_sessions_20251119_183701/session_001/Clamp_Data/clamp_data_tum.txt +1546 -0
  3. multi_sessions_20251119_183701/session_001/Merged_Trajectory/merge_stats.txt +37 -0
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  8. multi_sessions_20251119_183701/session_001/Vive_Poses/offset_info.txt +18 -0
  9. multi_sessions_20251119_183701/session_001/Vive_Poses/vive_data_tum.txt +0 -0
  10. multi_sessions_20251119_183701/session_002/Clamp_Data/clamp_data_tum.txt +1734 -0
  11. multi_sessions_20251119_183701/session_002/Merged_Trajectory/merge_stats.txt +37 -0
  12. multi_sessions_20251119_183701/session_002/Merged_Trajectory/merged_trajectory.txt +0 -0
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  17. multi_sessions_20251119_183701/session_002/Vive_Poses/vive_data_tum.txt +0 -0
  18. multi_sessions_20251119_183701/session_003/Clamp_Data/clamp_data_tum.txt +1474 -0
  19. multi_sessions_20251119_183701/session_003/Merged_Trajectory/merge_stats.txt +37 -0
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  25. multi_sessions_20251119_183701/session_003/Vive_Poses/vive_data_tum.txt +0 -0
  26. multi_sessions_20251119_183701/session_004/Clamp_Data/clamp_data_tum.txt +1489 -0
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  41. multi_sessions_20251119_183701/session_005/Vive_Poses/vive_data_tum.txt +0 -0
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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 18:37:02 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_183701
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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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+
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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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+
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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 18:37:02 CST
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+ 输出目录: ./multi_sessions_20251119_183701/session_001
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+ 结束时间: 2025年 11月 19日 星期三 18:37:17 CST
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+ 持续时间: 15秒
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+ 状态: 成功
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+ 数据验证: 通过
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+ 数据目录: ./multi_sessions_20251119_183701/session_001
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+
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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 18:37:21 CST
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+ 输出目录: ./multi_sessions_20251119_183701/session_002
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+ 结束时间: 2025年 11月 19日 星期三 18:37:35 CST
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+ 持续时间: 14秒
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+ 数据目录: ./multi_sessions_20251119_183701/session_002
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+
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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 18:37:39 CST
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+ 输出目录: ./multi_sessions_20251119_183701/session_003
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+ 结束时间: 2025年 11月 19日 星期三 18:37:56 CST
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+ 持续时间: 17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_183701/session_003
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+
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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 18:38:01 CST
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+ 输出目录: ./multi_sessions_20251119_183701/session_004
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+ 结束时间: 2025年 11月 19日 星期三 18:38:14 CST
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+ 持续时间: 13秒
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+ 数据验证: 通过
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+ 数据目录: ./multi_sessions_20251119_183701/session_004
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+
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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 18:38:18 CST
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+ 输出目录: ./multi_sessions_20251119_183701/session_005
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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_183701/session_005
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+
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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 18:38:30 CST
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+ 成功会话数: 5
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+ 数据目录结构:
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+ ./multi_sessions_20251119_183701/
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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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+ └─ collection_summary.txt
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+ 轨迹融合统计信息（基于速度的动态融合）
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+ ============================================================
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+
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+ 融合配置:
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+ 速度阈值: 1.0 m/s
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+ 融合频率: 120 Hz
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+ 时间匹配阈值: 0.01 s
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+ 基准传感器: VIVE (100Hz)
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+ 辅助传感器: SLAM (500Hz)
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+
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+ 融合策略:
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+ 1. 都低速 → 均值融合 (SLERP)
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+ 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
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+ 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
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+ 4. 都高速 → 不输出（跳过该帧）
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+
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+ 融合结果统计:
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+ 总融合点数: 773
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+ 均值融合 (都低速): 773
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+ 使用SLAM (VIVE高速): 0
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+ 使用VIVE (SLAM高速): 0
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+ 都高速 (已跳过): 0
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+ 总跳过帧数: 0
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+
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+ 策略分布:
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+ 均值融合: 100.0%
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+ 使用SLAM: 0.0%
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+ 使用VIVE: 0.0%
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+
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+ 输出率统计:
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+ 输出率: 100.0%
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+ 跳过率: 0.0%
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+
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+ 生成时间: 2025-11-19 18:37:14
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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
multi_sessions_20251119_183701/session_001/Merged_Trajectory/merged_trajectory.txt ADDED
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+ 轨迹融合统计信息（基于速度的动态融合）
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+ ============================================================
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+ 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
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+ 策略分布:
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+ 输出率统计:
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+ 输出率: 100.0%
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+ 生成时间: 2025-11-19 18:37:32
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+ 设备标签: main
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+ XV 序列号: 250801DR48FP25002087
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+ 轨迹融合统计信息（基于速度的动态融合）
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+ ============================================================
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+
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+ 融合配置:
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+ 速度阈值: 1.0 m/s
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+ 时间匹配阈值: 0.01 s
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+ 基准传感器: VIVE (100Hz)
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+ 辅助传感器: SLAM (500Hz)
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+
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+ 融合策略:
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+ 1. 都低速 → 均值融合 (SLERP)
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+ 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
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+ 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
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+ 4. 都高速 → 不输出（跳过该帧）
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+
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+ 融合结果统计:
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+ 总融合点数: 737
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+ 均值融合 (都低速): 737
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+ 使用VIVE (SLAM高速): 0
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+ 总跳过帧数: 0
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+
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+ 策略分布:
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+ 均值融合: 100.0%
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+ 使用SLAM: 0.0%
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+ 使用VIVE: 0.0%
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+
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+ 输出率统计:
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+ 输出率: 100.0%
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+ 跳过率: 0.0%
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+
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+ 生成时间: 2025-11-19 18:37:50
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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
multi_sessions_20251119_183701/session_003/Merged_Trajectory/merged_trajectory.txt ADDED
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+ 轨迹融合统计信息（基于速度的动态融合）
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+ ============================================================
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+
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+ 辅助传感器: SLAM (500Hz)
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+ 融合策略:
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+ 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
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+ 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
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+ 4. 都高速 → 不输出（跳过该帧）
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+
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+
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+ 策略分布:
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+ 均值融合: 100.0%
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+ 使用SLAM: 0.0%
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+ 使用VIVE: 0.0%
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+
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+ 输出率统计:
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+ 输出率: 100.0%
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+ 跳过率: 0.0%
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+
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+ 生成时间: 2025-11-19 18:38:11
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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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@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 轨迹融合统计信息（基于速度的动态融合）
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+ ============================================================
3
+
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+ 融合配置:
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+ 速度阈值: 1.0 m/s
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+ 融合频率: 120 Hz
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+ 时间匹配阈值: 0.01 s
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+ 基准传感器: VIVE (100Hz)
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+ 辅助传感器: SLAM (500Hz)
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+
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）
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+
17
+ 融合结果统计:
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+ 总融合点数: 634
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+ 均值融合 (都低速): 634
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+ 使用SLAM (VIVE高速): 0
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+ 使用VIVE (SLAM高速): 0
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+ 都高速 (已跳过): 0
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+ 总跳过帧数: 0
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+
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+ 策略分布:
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+ 均值融合: 100.0%
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+ 使用SLAM: 0.0%
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+ 使用VIVE: 0.0%
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+
30
+ 输出率统计:
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+ 输出率: 100.0%
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+ 跳过率: 0.0%
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+
34
+ 生成时间: 2025-11-19 18:38:27
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+ 设备标签: main
36
+ XV 序列号: 250801DR48FP25002087
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+ Vive 序列号: LHR_B728E669
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multi_sessions_20251119_183701/session_005/RGB_Images/video.mp4 ADDED
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multi_sessions_20251119_183701/session_005/SLAM_Poses/slam_raw.txt ADDED
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multi_sessions_20251119_183701/session_005/Vive_Poses/offset_info.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Vive 时间戳对齐信息
2
+ ============================================================
3
+
4
+ 对齐参数:
5
+ SLAM 第一帧时间戳: 159293.745977s
6
+ Vive 第一帧时间戳: 1763548699.632467s
7
+ 计算的 offset: -1763389405.886490s
8
+ 对齐公式: vive_aligned = vive_original + -1763389405.886490
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 18:38:27
16
+ 设备标签: main
17
+ XV 序列号: 250801DR48FP25002087
18
+ Vive 序列号: LHR_B728E669
multi_sessions_20251119_183701/session_005/Vive_Poses/vive_data_tum.txt ADDED
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