添加数据处理服务，根据默认模板拆分INS为两个文件VINS/FVNS
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wanxiaoli
parent
f1bd6e05c1
commit
dd6a4ef22d
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package com.yfd.platform.modules.experimentalData.service;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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import org.springframework.core.io.ClassPathResource;
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import org.springframework.stereotype.Service;
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import java.io.*;
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import java.nio.charset.StandardCharsets;
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import java.nio.file.Path;
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import java.time.LocalDateTime;
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import java.time.format.DateTimeFormatter;
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import java.util.*;
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@Service
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public class InsFileConvertService {
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private static final Logger log =
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LoggerFactory.getLogger(InsFileConvertService.class);
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/**
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* INS 转换通用方法
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* INS 数据 → VINS/FVNS 文件
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*/
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public void convertByTemplate(File insFile) throws Exception {
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long startTime = System.currentTimeMillis();
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if (!insFile.exists()) {
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throw new FileNotFoundException("INS 文件不存在：" + insFile.getAbsolutePath());
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}
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log.info("INS 转换开始，源文件：{}", insFile.getAbsolutePath());
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// ---------- 1. 时间戳 ----------
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String ts = LocalDateTime.now()
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.format(DateTimeFormatter.ofPattern("yyyyMMddHHmmss"));
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Path outDir = insFile.getParentFile().toPath();
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File vinsOut = outDir.resolve("VINS_0_mode1_" + ts + ".txt").toFile();
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File fvnsOut = outDir.resolve("FVNS_" + ts + ".csv").toFile();
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// ---------- 2. 模板 ----------
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ClassPathResource vinsTpl =
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new ClassPathResource("templates/VINS_0_mode1.txt");
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ClassPathResource fvnsTpl =
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new ClassPathResource("templates/FVNS.csv");
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// ---------- 3. 流 ----------
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try (
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BufferedReader insReader = new BufferedReader(
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new InputStreamReader(new FileInputStream(insFile), StandardCharsets.UTF_8));
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BufferedReader vinsTplReader = new BufferedReader(
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new InputStreamReader(vinsTpl.getInputStream(), StandardCharsets.UTF_8));
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BufferedReader fvnsTplReader = new BufferedReader(
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new InputStreamReader(fvnsTpl.getInputStream(), StandardCharsets.UTF_8));
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BufferedWriter vinsWriter = new BufferedWriter(
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new OutputStreamWriter(new FileOutputStream(vinsOut), StandardCharsets.UTF_8));
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BufferedWriter fvnsWriter = new BufferedWriter(
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new OutputStreamWriter(new FileOutputStream(fvnsOut), StandardCharsets.UTF_8))
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) {
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// ---------- 4. INS 表头 ----------
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String insHeaderLine = insReader.readLine();
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if (insHeaderLine == null) {
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throw new RuntimeException("INS 文件为空");
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}
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Map<String, Integer> insIndex = buildIndex(insHeaderLine);
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// ---------- 5. 表头校验（关键增强） ----------
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validateInsHeader(insIndex);
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// ---------- 6. 模板表头 ----------
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String vinsHeader = vinsTplReader.readLine();
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String fvnsHeader = fvnsTplReader.readLine();
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if (vinsHeader == null || fvnsHeader == null) {
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throw new RuntimeException("模板文件缺少表头");
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}
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vinsWriter.write(vinsHeader);
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vinsWriter.newLine();
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fvnsWriter.write(fvnsHeader);
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fvnsWriter.newLine();
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String[] vinsCols = vinsHeader.split(",");
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String[] fvnsCols = fvnsHeader.split(",");
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// ---------- 7. 映射规则 ----------
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Map<String, String> vinsMapping = new HashMap<>();
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vinsMapping.put("UTC", "utc");
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vinsMapping.put("LatGps", "LatJG");
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vinsMapping.put("LonGps", "LonJG");
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Map<String, String> fvnsMapping = new HashMap<>();
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fvnsMapping.put("FvnsSts", "posx");
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fvnsMapping.put("PosxFvns", "posy");
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fvnsMapping.put("PosyFvns", "posz");
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// ---------- 8. 流式处理 ----------
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String line;
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long rowCount = 0;
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while ((line = insReader.readLine()) != null) {
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String[] insRow = line.split("[,\t]", -1);
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writeLine(vinsWriter, vinsCols, vinsMapping, insIndex, insRow, ",");
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writeLine(fvnsWriter, fvnsCols, fvnsMapping, insIndex, insRow, ",");
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rowCount++;
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}
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vinsWriter.flush();
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fvnsWriter.flush();
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long cost = System.currentTimeMillis() - startTime;
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log.info(
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"INS 转换完成，行数：{}，耗时：{} ms，输出文件：{}, {}",
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rowCount,
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cost,
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vinsOut.getName(),
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fvnsOut.getName()
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);
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}
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}
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// ================== 校验与工具方法 ==================
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/**
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* INS 必须字段校验
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*/
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private void validateInsHeader(Map<String, Integer> insIndex) {
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List<String> required = Arrays.asList(
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"utc",
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"LatJG",
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"LonJG",
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"posx",
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"posy",
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"posz"
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);
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List<String> missing = new ArrayList<>();
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for (String field : required) {
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if (!insIndex.containsKey(field)) {
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missing.add(field);
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}
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}
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if (!missing.isEmpty()) {
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throw new RuntimeException(
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"INS 文件缺少必要字段：" + String.join(", ", missing)
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);
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}
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}
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private Map<String, Integer> buildIndex(String headerLine) {
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String[] headers = headerLine.split("[,\t]");
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Map<String, Integer> map = new HashMap<>();
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for (int i = 0; i < headers.length; i++) {
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map.put(headers[i].trim(), i);
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}
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return map;
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}
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private void writeLine(BufferedWriter writer,
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String[] targetCols,
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Map<String, String> mapping,
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Map<String, Integer> insIndex,
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String[] insRow,
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String delimiter) throws IOException {
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String[] out = new String[targetCols.length];
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Arrays.fill(out, "0");
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for (int i = 0; i < targetCols.length; i++) {
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String targetCol = targetCols[i].trim();
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String insCol = mapping.get(targetCol);
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if (insCol != null) {
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Integer idx = insIndex.get(insCol);
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if (idx != null && idx < insRow.length) {
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out[i] = insRow[idx];
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}
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}
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}
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writer.write(String.join(delimiter, out));
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writer.newLine();
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}
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public static void main(String[] args) {
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try {
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// ---------- 1. 构造待测 Service ----------
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InsFileConvertService service = new InsFileConvertService();
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// ---------- 2. 指定 INS 文件路径 ----------
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File insFile = new File("D:/data/ins_frameSimu_0.txt");
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// Linux 示例：
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// File insFile = new File("/data/ins/ins_frameSimu_0.txt");
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// ---------- 3. 执行转换 ----------
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service.convertByTemplate(insFile);
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System.out.println("转换完成，请检查输出文件。");
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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}
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504
java/src/main/resources/templates/FVNS.csv
Normal file
504
java/src/main/resources/templates/FVNS.csv
Normal file
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UTC,UTCOut,LatGps,HgtGps,LonGps,RollGps,YawGps,PitchGps,LatVins,HgtVins,LonVins,RollVins,YawVins,PitchVins,FvnsSts,PosxFvns,PosyFvns,PoszFvns,ModeFvns,ConfFvns,MethodFvns,RefID,NumPt,Pt1x,Pt1y,Pt2x,Pt2y,Pt3x,Pt3y,Pt4x,Pt4y,Pt5x,Pt5y,Pt6x,Pt6y,Pt7x,Pt7y,Pt8x,Pt8y,Pt9x,Pt9y,Pt10x,Pt10y,Pt11x,Pt11y,Pt12x,Pt12y
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60.01,300.31,38.4963361,1399.45,103.2048083,-0.7408333,-70.1041333,-0.4197389,38.4963361,1399.414,103.2048082,-0.810442,-70.1006014,-0.4678626,0,0,0,0.051,1,0.85,1,0,0,4,561.8,1276,585,605.1,547.3,705.2,549.1,0,-128,1247.6,1148,0,-128,0,-128,0,-128,0,-128,615,787.4,648.8,548.8
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300.425,300.575,38.4963361,1399.45,103.2048083,-0.7510639,-70.08905,-0.4289472,38.4963361,1399.79,103.2048082,-0.8131575,-70.101371,-0.4679276,0,0,0,0.051,1,0.85,1,0,0,6.6,561.8,1276,585.1,604.9,547.4,706.2,549.3,0,-128,1247.3,1148,0,-128,0,-128,0,-128,0,-128,614.8,787.4,648.9,548.9
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301.43,301.53,38.4963361,1399.45,103.2048083,-0.7622944,-70.0596444,-0.4222306,38.4963357,1399.79,103.2048084,-0.7826933,-70.1156302,-0.4690537,0,0,0,0.051,1,0.85,1,0,0,6.4,562.3,1276,585.7,604.3,547,707,548.9,0,-128,1247.6,1148,0,-128,0,-128,0,-128,0,-128,615.4,787.1,648.9,548.6
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302.42,302.52,38.4963361,1399.45,103.2048083,-0.7623889,-70.0775167,-0.4978389,38.4963357,1399.79,103.2048084,-0.8042029,-70.1049364,-0.4674049,0,0,0,0.051,1,0.85,1,0,0,4,561.8,1276,585.7,606.4,547.4,705.9,549.4,0,-128,1248.1,1148,0,-128,0,-128,0,-128,0,-128,614.9,787.4,649,548.9
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303.41,303.505,38.4963361,1399.45,103.2048083,-0.79895,-70.0659389,-0.4385556,38.4963357,1399.79,103.2048084,-0.8124081,-70.0966995,-0.4682888,0,0,0,0.051,1,0.85,1,0,0,4,562.2,1276,585.4,605.4,547.1,705.5,548.9,0,-128,1248.3,1148,0,-128,0,-128,0,-128,0,-128,615.4,787.1,649.1,548.6
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304.4,304.495,38.4963361,1399.45,103.2048083,-0.75405,-70.0692278,-0.4138917,38.4963357,1399.79,103.2048084,-0.7695076,-70.1184806,-0.4668883,0,0,0,0.052,1,0.85,1,0,0,4,562.1,1276,585.2,605.1,547.2,706.2,549.4,0,-128,1247.2,1148,0,-128,0,-128,0,-128,0,-128,614.8,787.1,649,548.7
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305.39,305.485,38.4963361,1399.45,103.2048083,-0.7603944,-70.0391389,-0.399525,38.4963357,1399.79,103.2048084,-0.8022389,-70.1043329,-0.4673509,0,0,0,0.051,1,0.85,1,0,0,4,562.5,1276,585.4,603.9,547.1,708.2,549.3,0,-128,1247.5,1148,0,-128,0,-128,0,-128,0,-128,615.2,787.3,648.7,548.9
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306.415,306.505,38.4963361,1399.45,103.2048083,-0.7792111,-70.0047,-0.4118028,38.4963357,1399.79,103.2048084,-0.7920108,-70.1062327,-0.4686083,0,0,0,0.051,1,0.85,1,0,0,6.4,562.5,1276,585.2,605.3,547.4,705.7,549.3,0,-128,1248.7,1148,0,-128,0,-128,0,-128,0,-128,614.9,787.1,649,548.9
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307.44,307.535,38.4963361,1399.45,103.2048083,-0.7742722,-69.9731667,-0.477175,38.4963357,1399.79,103.2048084,-0.7828153,-70.1183828,-0.4666397,0,0,0,0.048,1,0.85,1,0,0,4,562.1,1276,585.3,603.2,547.7,707.4,549.5,0,-128,1248.1,1148,0,-128,0,-128,0,-128,0,-128,614.5,787.6,646.7,549.2
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308.465,308.555,38.4963361,1399.45,103.2048083,-0.724625,-70.0910778,-0.4656333,38.4963357,1399.79,103.2048084,-0.705305,-70.1545873,-0.4648375,0,0,0,0.046,1,0.85,1,0,0,4,562.7,1276,586,604.1,546.7,712.3,549.1,0,-128,1248.3,1148,0,-128,0,-128,0,-128,0,-128,618.7,787.1,649.1,548.5
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309.59,309.685,38.4963361,1399.46,103.2048083,-0.8465139,-70.0645278,-0.4912472,38.4963357,1399.79,103.2048084,-0.7341136,-70.1127004,-0.4608321,0,0,0,0.053,1,0.85,1,0,0,4,564.1,1276,585.8,604.8,547.5,705.9,549.4,0,-128,1248.6,1148,0,-128,0,-128,0,-128,0,-128,614.1,787.7,648.6,549.1
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310.58,310.665,38.4963361,1399.45,103.2048083,-0.8396278,-70.0104056,-0.4578611,38.4963357,1399.79,103.2048084,-0.7865157,-70.0731787,-0.4664109,0,0,0,0.049,1,0.85,1,0,0,4,565.2,1276,585.5,602.4,547.4,706.5,549.6,0,-128,1247.7,1148,0,-128,0,-128,0,-128,0,-128,613.5,787.6,646.2,549
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311.565,311.655,38.4963361,1399.45,103.2048083,-0.8145,-70.0003611,-0.48795,38.4963357,1399.79,103.2048084,-0.7644463,-70.0942909,-0.4629094,0,0,0,0.048,1,0.85,1,0,0,4,562.3,1276,585.7,602.3,546.9,707.2,549.2,0,-128,1248.1,1148,0,-128,0,-128,0,-128,0,-128,614.6,787.3,646.6,548.6
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312.555,312.645,38.4963361,1399.45,103.2048083,-0.7959556,-70.0574056,-0.4434667,38.4963357,1399.79,103.2048084,-0.723175,-70.1139596,-0.4669312,0,0,0,0.048,1,0.85,1,0,0,4,564.3,1276,585.7,603.2,547.6,705.8,549.7,0,-128,1247.9,1148,0,-128,0,-128,0,-128,0,-128,614.9,787.7,646.4,549.2
|
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313.545,313.64,38.4963361,1399.45,103.2048083,-0.8059722,-70.0612556,-0.4154222,38.4963357,1399.79,103.2048084,-0.7063997,-70.1498925,-0.4622192,0,0,0,0.049,1,0.85,1,0,0,6.7,562.6,1276,586.6,599.6,547.2,707.2,549.4,0,-128,1248.2,1148,0,-128,0,-128,0,-128,0,-128,614.1,787.5,646.4,548.9
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||||
314.57,314.665,38.4963361,1399.45,103.2048083,-0.955775,-69.9902722,-0.3719389,38.4963357,1399.79,103.2048083,-0.8569184,-70.0292449,-0.4722439,0,0,0,0.046,1,0.85,1,0,0,4,562.6,1276,585.6,597.3,547.3,709,549.5,0,-128,1248.2,1148,0,-128,0,-128,0,-128,0,-128,614.4,787.4,645.6,549
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||||
315.56,315.66,38.4963361,1399.45,103.2048083,-0.9552472,-69.95875,-0.3588194,38.4963357,1399.79,103.2048083,-0.7624109,-70.1037078,-0.4682067,0,0,0,0.046,1,0.85,1,0,0,4,562.3,1276,585.9,604.1,547.2,706.2,549.1,0,-128,1247,1148,0,-128,0,-128,0,-128,0,-128,618.1,788.3,649,548.7
|
||||
316.55,316.64,38.4963361,1399.45,103.2048083,-0.8457306,-70.0163778,-0.3268083,38.4963357,1399.79,103.2048083,-0.7345279,-70.1338771,-0.4645529,0,0,0,0.052,1,0.85,1,0,0,6.7,562.1,1276,585.5,604.2,547.1,702.6,548.9,0,-128,1247.3,1148,0,-128,0,-128,0,-128,0,-128,614.4,787.5,648.7,548.7
|
||||
317.535,317.63,38.4963361,1399.45,103.2048083,-0.9067306,-69.9879167,-0.3828222,38.4963357,1399.79,103.2048083,-0.75324,-70.1105275,-0.460812,0,0,0,0.049,1,0.85,1,0,0,6.8,562.4,1276,585.5,604.4,547.1,706.3,549,0,-128,1248.5,1148,0,-128,0,-128,0,-128,0,-128,614.4,787.7,646.7,548.6
|
||||
318.525,318.62,38.4963361,1399.46,103.2048083,-0.8855972,-70.0025111,-0.3529083,38.4963358,1399.79,103.2048083,-0.7466123,-70.1219424,-0.4670059,0,0,0,0.049,1,0.85,1,0,0,4,561.9,1276,585.6,604.1,547,706.4,549.2,0,-128,1247.5,1148,0,-128,0,-128,0,-128,0,-128,616,787.7,648.5,548.8
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319.515,319.61,38.4963361,1399.45,103.2048083,-0.8269972,-70.0437111,-0.3937028,38.4963357,1399.79,103.2048083,-0.7669348,-70.1123997,-0.4628737,0,0,0,0.051,1,0.85,1,0,0,6.5,562.1,1276,585.8,604.9,546.8,706.2,548.9,0,-128,1248.2,1148,0,-128,0,-128,0,-128,0,-128,615,787.9,648.7,548.5
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320.505,320.6,38.4963361,1399.45,103.2048083,-0.7056361,-70.05825,-0.4688528,38.4963357,1399.79,103.2048083,-0.7620526,-70.1088745,-0.4662201,0,0,0,0.046,1,0.85,1,0,0,4,561.9,1276,585.4,604,546.7,707.8,548.8,0,-128,1247.6,1148,0,-128,0,-128,0,-128,0,-128,615.7,788,646.3,548.4
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321.495,321.59,38.4963361,1399.45,103.2048083,-0.7287917,-70.0293833,-0.4428139,38.4963357,1399.79,103.2048083,-0.7506413,-70.1157491,-0.4626789,0,0,0,0.047,1,0.85,1,0,0,6.5,561.9,1276,585.4,603.1,547.3,707.4,549,0,-128,1247.9,1148,0,-128,0,-128,0,-128,0,-128,615.2,787.9,646.6,548.8
|
||||
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|
||||
1899.42,1899.51,38.4962722,1399.46,103.2045889,-1.4577528,-70.1136222,-0.6086556,38.4962818,1399.781,103.2046199,-1.1760831,-69.9571219,-0.4905675,0,0,0,0.246,1,0.85,1,0,0,25.9,-61.5,1276,587.5,611.5,546.5,694.3,548.2,0,-128,0,-128,0,-128,0,-128,0,-128,0,-128,343.4,1019.8,647.8,547.7
|
||||
1900.41,1900.5,38.4962722,1399.47,103.2045889,-1.3795917,-70.1976222,-0.5472333,38.4962818,1399.781,103.20462,-1.1881537,-69.943048,-0.4873518,0,0,0,0.244,1,0.85,1,0,0,4,562.3,1276,587.1,610,545.8,700.5,547.9,0,-128,0,-128,0,-128,0,-128,0,-128,0,-128,343.7,1019.6,645.3,547.5
|
||||
1901.435,1901.53,38.4962722,1399.47,103.2045917,-1.4345444,-70.2199111,-0.6016,38.4962823,1399.781,103.2046198,-1.1913971,-69.9412777,-0.4842176,0,0,0,0.245,1,0.85,1,0,0,4,563.6,1276,588,610.5,545.8,699.5,547.9,0,-128,0,-128,0,-128,0,-128,0,-128,0,-128,343,1019.6,645.6,547.3
|
||||
1902.445,1902.545,38.4962722,1399.47,103.2045917,-1.5194778,-70.2251056,-0.5420361,38.4962827,1399.781,103.2046196,-1.204994,-69.9330608,-0.483613,0,0,0,0.244,1,0.85,1,0,0,26.3,-60.7,1276,587.4,609.8,546.2,694.6,548.1,0,-128,0,-128,0,-128,0,-128,0,-128,0,-128,343.1,1019.5,645.3,547.7
|
||||
1903.43,1903.525,38.4962722,1399.47,103.2045889,-1.5603917,-70.2275389,-0.4606222,38.4962829,1399.781,103.2046195,-1.1971774,-69.9356527,-0.4819374,0,0,0,0.244,1,0.85,1,0,0,26.4,-60.4,1276,587.8,610.7,546.3,693.6,548.2,0,-128,0,-128,0,-128,0,-128,0,-128,0,-128,344.5,1019.2,645.6,547.6
|
||||
1904.42,1904.515,38.4962722,1399.47,103.2045889,-1.5955389,-70.2087944,-0.4316944,38.496283,1399.781,103.2046195,-1.1999665,-69.9377055,-0.4813092,0,0,0,0.245,1,0.85,1,0,0,26.5,-60.4,1276,588.1,610.7,546.5,691.1,548.2,0,-128,0,-128,0,-128,0,-128,0,-128,0,-128,342.6,1019.6,645.1,547.7
|
||||
1905.41,1905.505,38.4962722,1399.47,103.2045889,-1.5833694,-70.1730167,-0.517775,38.4962831,1399.781,103.2046195,-1.1966004,-69.9365325,-0.480241,0,0,0,0.244,1,0.85,1,0,0,26.4,-61.1,1276,588,609.6,546.4,692.5,548.2,0,-128,0,-128,0,-128,0,-128,0,-128,0,-128,343.5,1019.4,645.1,547.6
|
||||
1906.435,1906.53,38.4962722,1399.47,103.2045889,-1.5485194,-70.1694944,-0.5696111,38.4962831,1399.781,103.2046195,-1.200415,-69.9371007,-0.4799603,0,0,0,0.244,1,0.85,1,0,0,26.3,-61,1276,587.7,610.2,546.3,693.9,548.1,0,-128,0,-128,0,-128,0,-128,0,-128,0,-128,343.7,1019.3,645.4,547.5
|
||||
1907.425,1907.52,38.4962722,1399.47,103.2045889,-1.5228556,-70.1819222,-0.58,38.4962832,1399.781,103.2046195,-1.1990912,-69.9383336,-0.4793048,0,0,0,0.244,1,0.85,1,0,0,26.3,-61.9,1276,588.2,609.6,546.4,691.3,548.2,0,-128,0,-128,0,-128,0,-128,0,-128,0,-128,344.4,1019.1,645.4,547.6
|
||||
1908.415,1908.51,38.4962722,1399.47,103.2045889,-1.4939417,-70.1882111,-0.5814444,38.4962832,1399.781,103.2046196,-1.1991427,-69.9372371,-0.478719,0,0,0,0.245,1,0.85,1,0,0,25.9,-61.8,1276,587.9,609.3,546.3,690.9,548.2,0,-128,0,-128,0,-128,0,-128,0,-128,0,-128,342.6,1019.4,645.7,547.4
|
||||
|
1977
java/src/main/resources/templates/VINS_0_mode1.txt
Normal file
1977
java/src/main/resources/templates/VINS_0_mode1.txt
Normal file
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue
Block a user