GeoYolo-SLAM/Result/Geo_ORB3/Boon/rgbd_bonn_crowd/KeyFrameTrajectory1.txt

1548339819.874260 0.0000000 0.0000000 0.0000000 -0.0000000 -0.0000000 -0.0000000 1.0000000
1548339820.309720 0.0509110 -0.0257652 -0.0119092 -0.0055355 0.0386159 0.0122537 0.9991637
1548339820.343240 0.0536346 -0.0230893 -0.0090464 -0.0048916 0.0429571 0.0123638 0.9989884
1548339820.477340 0.0791985 -0.0184123 -0.0172740 -0.0078418 0.0603755 0.0137826 0.9980498
1548339820.779820 0.0816073 -0.0017576 -0.0124914 -0.0193416 0.1060579 0.0245835 0.9938678
1548339821.149030 0.1177379 -0.0000714 -0.0011226 -0.0328668 0.1515888 0.0387305 0.9871376
1548339822.925230 0.2471465 -0.0585293 -0.0623667 -0.0113583 0.3253273 0.0798385 0.9421566
1548339824.366970 0.3362568 -0.0104554 -0.1172468 -0.0276046 0.3859634 0.0934029 0.9173583
1548339825.137490 0.3997603 -0.0059906 -0.1907217 -0.0034510 0.3917006 0.0816510 0.9164562
1548339825.305320 0.4100222 -0.0147954 -0.1799932 -0.0097446 0.3784365 0.0914499 0.9210471
1548339826.712130 0.4680982 -0.0392533 -0.0502366 -0.0055901 0.1826086 0.0759752 0.9802299
1548339829.259840 0.4120529 0.0006750 -0.1561028 -0.0052339 0.2068499 0.0867146 0.9745083
1548339829.393900 0.2894430 -0.0288111 -0.1003501 0.0009583 0.2392086 0.0822754 0.9674757
1548339829.494250 0.2130075 -0.0549622 -0.0602022 0.0041529 0.2575796 0.0790581 0.9630085
1548339829.594730 0.1263439 -0.0568065 -0.0085724 0.0078716 0.2814113 0.0735033 0.9567356
1548339829.661720 0.0626987 -0.0470347 0.0199019 0.0116074 0.2984129 0.0734835 0.9515331
1548339829.762380 0.2416649 -0.0523939 -0.0909334 0.0116637 0.2766354 0.0849109 0.9571452
1548339830.097990 0.2320207 -0.0442128 -0.0934597 0.0161758 0.3184817 0.0879823 0.9436985
1548339830.164910 0.2833971 -0.0341547 -0.1269751 0.0177334 0.3173764 0.0888668 0.9439600
1548339830.265230 0.3647304 -0.0317854 -0.1704169 0.0155632 0.3156732 0.0902056 0.9444423
1548339830.332270 0.4344380 -0.0103063 -0.2205348 0.0157336 0.3077918 0.0911945 0.9469426
1548339830.399370 0.4949625 0.0186998 -0.2568470 0.0179263 0.3059634 0.0882363 0.9477760
1548339830.466300 0.5316089 0.0324723 -0.3042271 0.0167234 0.3047701 0.0963719 0.9473901
1548339830.499720 0.5436677 0.0478208 -0.3263274 0.0197856 0.3052525 0.0954877 0.9472653
1548339830.533190 0.5683864 0.0559598 -0.3405439 0.0204380 0.3055571 0.1003637 0.9466490
1548339830.566670 0.5896429 0.0656867 -0.3530834 0.0211900 0.3037854 0.1010196 0.9471328
1548339830.600150 0.6004799 0.0807649 -0.3839300 0.0227633 0.2991660 0.0996208 0.9487135
1548339830.633640 0.6179066 0.0938146 -0.3975444 0.0241709 0.2958035 0.1005360 0.9496360
1548339830.667110 0.6307498 0.1038820 -0.4194971 0.0233435 0.2921882 0.0991311 0.9509228
1548339830.700630 0.6451218 0.1097579 -0.4319036 0.0214366 0.2886108 0.0982841 0.9521474
1548339830.734140 0.6516102 0.1229645 -0.4606056 0.0204933 0.2856519 0.0972072 0.9531704
1548339830.767660 0.6673820 0.1214802 -0.4544109 0.0161664 0.2848768 0.0972779 0.9534783
1548339830.801180 0.6781887 0.1336710 -0.4683125 0.0153327 0.2831805 0.0971688 0.9540084
1548339830.834690 0.6926813 0.1440517 -0.4744668 0.0141357 0.2818313 0.0980143 0.9543399
1548339830.868210 0.7045069 0.1589072 -0.4692916 0.0140864 0.2809345 0.0983193 0.9545736
1548339830.935310 0.7245579 0.1602788 -0.4635278 0.0107126 0.2794245 0.1015324 0.9547243
1548339831.002370 0.7411469 0.1821446 -0.4748330 0.0134365 0.2763869 0.1042979 0.9552757
1548339831.069850 0.7524068 0.1908392 -0.4775294 0.0143257 0.2774469 0.1054136 0.9548330
1548339831.136930 0.7697347 0.2139349 -0.4880804 0.0177761 0.2771566 0.1068670 0.9546977
1548339831.271190 0.8068341 0.2332436 -0.5065105 0.0172092 0.2770212 0.1071867 0.9547116
1548339831.439010 0.7548383 0.2167019 -0.4930427 0.0069308 0.2919638 0.1010624 0.9510497
1548339831.572650 0.8148795 0.2795320 -0.5234692 0.0060757 0.2794333 0.0980247 0.9551290
1548339831.706720 0.7774587 0.2748323 -0.5017052 0.0049010 0.2809701 0.0990885 0.9545749
1548339831.874340 0.8449774 0.3170370 -0.5343845 0.0105783 0.2595028 0.1021044 0.9602714
1548339832.075430 0.8513656 0.2879881 -0.5426961 0.0045825 0.2390663 0.0914626 0.9666752
1548339832.309910 0.8368754 0.2754297 -0.5427791 0.0208864 0.2178867 0.0916528 0.9714366
1548339832.778840 0.8133535 0.2722739 -0.5320704 0.0272327 0.1518510 0.0812723 0.9846799
1548339833.482740 0.7591656 0.2534616 -0.4929581 0.0245535 0.1112500 0.0607493 0.9916301
1548339833.616900 0.7810597 0.2581632 -0.4978297 0.0233563 0.1049308 0.0598748 0.9924006
1548339833.751070 0.8427470 0.2504773 -0.5016569 0.0238719 0.0969623 0.0618287 0.9930789
1548339833.851540 0.7947805 0.2335076 -0.5039243 0.0249942 0.1066450 0.0565264 0.9923744
1548339833.918570 0.7269249 0.2215409 -0.5390493 0.0285716 0.1210573 0.0571610 0.9905864
1548339833.985600 0.7096663 0.2716929 -0.6057300 0.0406297 0.1247813 0.0559327 0.9897729
1548339834.052420 0.6481088 0.2966359 -0.6825329 0.0445808 0.1339275 0.0556531 0.9884223
1548339834.085820 0.6108521 0.3016009 -0.7157282 0.0438003 0.1400736 0.0604555 0.9873227
1548339834.152810 0.6509016 0.3598337 -0.7584410 0.0507254 0.1328403 0.0600133 0.9880176
1548339834.219810 0.6408883 0.3793519 -0.7458240 0.0528425 0.1365383 0.0635210 0.9871829
1548339834.286760 0.6972252 0.3817445 -0.7538820 0.0502828 0.1298470 0.0675518 0.9879515
1548339834.387080 0.7212233 0.3976886 -0.7607751 0.0506479 0.1313002 0.0646059 0.9879378
1548339834.454060 0.6665553 0.3877049 -0.7494532 0.0504683 0.1472477 0.0630758 0.9857954
1548339834.521090 0.6157891 0.3817867 -0.7288383 0.0520122 0.1619656 0.0616198 0.9834962
1548339834.588120 0.5501058 0.3741640 -0.7156509 0.0522389 0.1795416 0.0612104 0.9804536
1548339834.621590 0.5487286 0.3428946 -0.6852765 0.0460354 0.1860440 0.0748128 0.9786069
1548339834.655160 0.5301017 0.3153741 -0.6623822 0.0399255 0.1974262 0.0866285 0.9756661
1548339834.688720 0.5342265 0.2956730 -0.6229990 0.0369055 0.2076414 0.0971474 0.9726692
1548339834.722240 0.5284900 0.2719803 -0.5899762 0.0316350 0.2205653 0.1069705 0.9689724
1548339834.755750 0.5349345 0.2541268 -0.5524575 0.0280947 0.2301845 0.1146028 0.9659669
1548339834.789260 0.5536998 0.2447416 -0.5248049 0.0256836 0.2369519 0.1187522 0.9638942
1548339834.823280 0.5762579 0.2298908 -0.4870819 0.0223436 0.2416885 0.1252650 0.9619752
1548339834.857060 0.5924911 0.2185073 -0.4596188 0.0185842 0.2446303 0.1288054 0.9608433
1548339834.890580 0.6160140 0.2186662 -0.4300116 0.0179538 0.2468508 0.1332252 0.9596840
1548339834.924250 0.6449327 0.2231662 -0.4031781 0.0182350 0.2488402 0.1339171 0.9590684
1548339834.991030 0.6929697 0.2357702 -0.4277699 0.0193805 0.2497884 0.1353756 0.9585946
1548339835.057890 0.7397802 0.2581232 -0.4521862 0.0227677 0.2478025 0.1384255 0.9586000
1548339835.158440 0.8047709 0.2809530 -0.4912842 0.0239597 0.2474863 0.1435912 0.9578925
1548339835.259160 0.8682373 0.2934667 -0.5352778 0.0235964 0.2439010 0.1489226 0.9580071
1548339835.359510 0.9405599 0.2919945 -0.5545663 0.0210588 0.2421887 0.1532538 0.9578176
1548339835.426130 0.9906151 0.2870478 -0.5686809 0.0198131 0.2393385 0.1544525 0.9583679
1548339835.493090 1.0285281 0.2998180 -0.5869882 0.0233470 0.2361351 0.1572447 0.9586289
1548339835.627080 0.9950501 0.2959186 -0.5832320 0.0250123 0.2500772 0.1571740 0.9550561
1548339836.464620 0.9974189 0.3050236 -0.5942956 0.0106806 0.2940242 0.1656310 0.9412768
1548339837.068420 1.0340436 0.3088575 -0.6050680 -0.0054124 0.3023910 0.1729441 0.9373477
1548339837.403580 1.0464022 0.3215930 -0.5969709 -0.0005738 0.3010380 0.1742562 0.9375557
1548339837.571160 1.0461630 0.3056354 -0.6023750 0.0012657 0.3023172 0.1746500 0.9370700
1548339837.705290 1.0458304 0.3115612 -0.6083389 0.0057061 0.3040195 0.1770570 0.9360505
1548339837.873430 1.0533297 0.2944315 -0.6054387 0.0043452 0.3006535 0.1770040 0.9371543
1548339838.041050 1.0206180 0.2705954 -0.6014559 0.0039533 0.2977884 0.1727475 0.9388635
1548339838.175240 1.1028301 0.3060513 -0.6230927 0.0064693 0.2803228 0.1756748 0.9436713
1548339838.275790 1.1669184 0.3293515 -0.6541855 0.0060103 0.2623844 0.1749227 0.9489575
1548339838.376340 1.2450157 0.3503971 -0.6897280 0.0021060 0.2431110 0.1708861 0.9548249
1548339838.476820 1.3269746 0.4036689 -0.7423862 0.0088735 0.2221293 0.1715616 0.9597638
1548339838.610860 1.4286178 0.4603043 -0.7877191 0.0147525 0.1975681 0.1734576 0.9647081
1548339838.711400 1.4750024 0.4861283 -0.8146724 0.0215496 0.1869232 0.1727581 0.9668247
1548339838.778430 1.4981704 0.5032479 -0.8295394 0.0277309 0.1789265 0.1726581 0.9681970
1548339838.912460 1.5346191 0.5068316 -0.8457149 0.0291885 0.1678520 0.1715281 0.9703360
1548339839.012980 1.5781232 0.5443735 -0.8786615 0.0358893 0.1571647 0.1720188 0.9718131
1548339839.113540 1.6275933 0.6024677 -0.9385380 0.0457019 0.1428872 0.1705503 0.9738620
1548339839.180540 1.6985430 0.6307526 -0.9705064 0.0495228 0.1290715 0.1725570 0.9752498
1548339839.247570 1.7699881 0.6653530 -1.0007852 0.0541314 0.1146147 0.1743763 0.9764867
1548339839.314480 1.8570788 0.7036731 -1.0197763 0.0590448 0.0977208 0.1730822 0.9782673
1548339839.381500 1.9154066 0.7502753 -1.0622619 0.0674077 0.0833499 0.1771845 0.9783224
1548339839.481980 1.9726032 0.8299270 -1.1260862 0.0832056 0.0672675 0.1772182 0.9783382
1548339839.548980 2.0080216 0.8714815 -1.1507896 0.0905857 0.0584761 0.1814348 0.9774744
1548339839.615620 2.0307329 0.9089021 -1.1769129 0.0978412 0.0503004 0.1830131 0.9769356
1548339839.682580 2.0624464 0.9556773 -1.2165295 0.1055004 0.0377281 0.1839051 0.9765373
1548339839.749610 2.0925512 0.9985754 -1.2549025 0.1119832 0.0281988 0.1827489 0.9763542
1548339839.783130 2.1131072 1.0182213 -1.2718596 0.1143388 0.0217728 0.1849296 0.9758348
1548339839.850280 2.1599445 1.0526773 -1.3068609 0.1169410 0.0073483 0.1838405 0.9759475
1548339839.883870 2.1739969 1.0753038 -1.3276324 0.1202199 0.0023966 0.1850923 0.9753370
1548339839.917390 2.1908357 1.0860943 -1.3268394 0.1213174 -0.0017339 0.1849586 0.9752279
1548339840.017860 2.2520447 1.1245216 -1.3251134 0.1250914 -0.0149805 0.1826624 0.9750704
1548339840.185520 2.2159984 1.1216469 -1.3215662 0.1237822 -0.0142458 0.1774259 0.9762146
1548339840.286060 2.2928255 1.1279898 -1.3049806 0.1234919 -0.0293505 0.1808790 0.9752800
1548339840.353100 2.3558600 1.1444330 -1.3006071 0.1217471 -0.0421488 0.1814602 0.9749222
1548339840.420130 2.4258773 1.1586390 -1.2736171 0.1195215 -0.0563935 0.1857982 0.9736598
1548339840.487160 2.5030675 1.1723793 -1.2370350 0.1190567 -0.0702043 0.1881190 0.9723724
1548339840.554400 2.5724814 1.1892829 -1.2390766 0.1183654 -0.0815428 0.1897321 0.9712580
1548339840.620950 2.6446943 1.2106067 -1.2276717 0.1183871 -0.0923235 0.1912908 0.9699839
1548339840.688110 2.7303324 1.2364587 -1.2032905 0.1194766 -0.1057121 0.1899336 0.9687495
1548339840.755180 2.8149567 1.2611580 -1.1592915 0.1211895 -0.1210104 0.1875751 0.9672049
1548339840.855730 2.9238632 1.3106863 -1.1006025 0.1259280 -0.1420157 0.1843818 0.9643532
1548339840.922760 2.9671397 1.3191477 -1.0705714 0.1267373 -0.1481237 0.1841303 0.9633759
1548339840.989830 2.9746835 1.3107504 -1.0681452 0.1281289 -0.1476671 0.1836351 0.9633564
1548339841.157430 2.8230171 1.2577578 -1.1418850 0.1271702 -0.1192712 0.1817052 0.9677734
1548339841.291550 2.9341929 1.2972939 -1.0825484 0.1314279 -0.1449628 0.1814650 0.9637339
1548339841.425510 3.0612297 1.3350693 -1.0036209 0.1354898 -0.1865983 0.1796657 0.9563178
1548339841.526060 3.1356201 1.3886887 -0.9282886 0.1427989 -0.2133699 0.1849906 0.9486097
1548339841.593460 3.1907444 1.4267393 -0.8660336 0.1526506 -0.2362176 0.1893715 0.9407644
1548339841.693940 3.2687871 1.4702857 -0.7794073 0.1705179 -0.2749089 0.1885020 0.9272625
1548339841.794550 3.3269563 1.4770672 -0.7158853 0.1838752 -0.3068451 0.1745114 0.9173777
1548339841.895100 3.4039512 1.4605669 -0.6290478 0.1922530 -0.3387092 0.1617224 0.9067308
1548339841.995570 3.5046697 1.4361134 -0.5391095 0.1940585 -0.3748211 0.1540125 0.8933816
1548339842.062260 3.5750885 1.4232585 -0.4666404 0.1938430 -0.3947663 0.1506876 0.8853687
1548339842.129290 3.6469555 1.4359699 -0.3783638 0.1979048 -0.4154071 0.1475061 0.8755071
1548339842.196080 3.6969919 1.4488337 -0.2896765 0.2023661 -0.4336570 0.1447622 0.8660448
1548339842.363630 3.6329885 1.4435090 -0.3996599 0.2044899 -0.4312600 0.1342652 0.8684305
1548339842.497820 3.6867216 1.4782847 -0.2979258 0.2092487 -0.4600722 0.1244815 0.8538460
1548339842.598380 3.7296367 1.4667319 -0.2108607 0.2060495 -0.4816564 0.1179222 0.8435906
1548339842.732530 3.7859695 1.4538358 -0.0848627 0.2074652 -0.5086874 0.1080643 0.8285636
1548339843.000560 3.7611878 1.4658303 -0.0942287 0.2079220 -0.4984257 0.0920583 0.8365797
1548339843.235020 3.7314553 1.4629250 -0.1172643 0.1982222 -0.4941048 0.0905576 0.8416459
1548339843.670920 3.7102368 1.4618517 -0.1267309 0.2073884 -0.5184673 0.0872780 0.8249632
1548339843.771460 3.7653086 1.4550401 -0.0150378 0.2072376 -0.5404247 0.0892920 0.8105681
1548339843.804980 3.7901151 1.4723645 0.0147276 0.2111576 -0.5471134 0.0901989 0.8049494
1548339843.838500 3.8074758 1.4732493 0.0523734 0.2132389 -0.5530578 0.0908662 0.8002497
1548339843.872420 3.8248346 1.4781772 0.0874569 0.2145082 -0.5589266 0.0951008 0.7953258
1548339843.905940 3.8566046 1.4992406 0.0886781 0.2168680 -0.5635521 0.0929727 0.7916649
1548339845.379950 0.1503600 -0.0468615 -0.0493269 0.0138594 0.2330553 0.0426111 0.9714306
1548339845.615100 0.2055997 -0.0657511 -0.0864734 0.0083284 0.2641546 0.0469027 0.9633033
1548339845.882750 0.2407162 -0.0620601 -0.1003676 -0.0028380 0.3034808 0.0592466 0.9509896
1548339846.084360 0.2700135 -0.0709604 -0.1135119 -0.0084453 0.3285499 0.0674135 0.9420398
1548339846.251820 0.2902749 -0.0571484 -0.1272525 -0.0101572 0.3443137 0.0708519 0.9361224
1548339846.419660 0.3107137 -0.0562271 -0.1359631 -0.0164502 0.3589851 0.0742559 0.9302393
1548339846.620760 0.3346326 -0.0298867 -0.1478634 -0.0200853 0.3770006 0.0782461 0.9226834
1548339846.888790 0.3617537 -0.0157497 -0.1491248 -0.0287024 0.3841120 0.0854297 0.9188775
1548339847.290820 0.3294713 0.0135093 -0.1142356 -0.0238466 0.3639699 0.0779590 0.9278360
1548339847.860540 0.3514276 0.0127466 -0.1355506 -0.0254085 0.3191963 0.0606940 0.9454017
1548339848.262710 0.3289004 0.0120350 -0.1040725 -0.0163889 0.2935891 0.0654230 0.9535495
1548339848.765100 0.3473645 -0.0155629 -0.1242439 -0.0119608 0.2723531 0.0721298 0.9594155