# timestamp
1602074877522449664

# fx, fy, cx, cy, width, height, npoints
501.475769,501.475800,421.795410,167.657913,800,400,520

# camToWorld: translation vector, rotation quaternion
0.178601,-0.423466,-0.006416,-0.000809,-0.730420,0.682984,-0.004263

# Exposure time (ms)
0.245718

# GPS Data
# GPSData: Covariance matrix
0.000267,0.000000,0.000000,0.000000,0.000145,0.000000,0.000000,0.000000,0.001060

# GPSData: GPS point
-0.060393,0.027128,0.016747

# Point Cloud Data : 
# u,v,idepth_scaled,idepth_hessian,maxRelBaseline,numGoodRes,status 
# color information 
565.000000,50.000000,0.042734,12194345.000000,0.064569,0,1
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20,18,23,22,25,30,32,37,
763.000000,70.000000,0.065919,244172928.000000,0.712059,0,1
28,33,24,26,25,17,25,23,
380.000000,72.000000,0.027886,2767697.250000,0.103562,0,1
16,15,22,10,15,20,10,10,
689.000000,72.000000,0.070091,12181441.000000,0.429847,0,1
45,43,41,36,34,30,29,27,
226.000000,76.000000,0.041628,82100232.000000,0.402757,0,1
20,17,15,16,12,12,10,6,
512.000000,78.000000,0.046673,9735205.000000,0.140477,0,1
25,25,19,18,17,11,15,14,
233.000000,79.000000,0.043994,316824768.000000,0.414750,0,1
22,19,28,13,23,32,17,23,
435.000000,79.000000,0.051837,15855371.000000,0.131074,0,1
23,20,31,19,26,18,18,16,
237.000000,80.000000,0.044205,133741736.000000,0.408944,0,1
34,31,27,27,21,19,19,13,
287.000000,80.000000,0.045156,24314774.000000,0.324287,0,1
30,20,25,11,15,18,10,9,
372.000000,81.000000,0.044026,52441684.000000,0.175068,0,1
26,27,16,28,22,11,23,23,
301.000000,82.000000,0.045224,100155416.000000,0.298163,0,1
25,25,19,22,19,12,17,11,
440.000000,84.000000,0.049244,10274039.000000,0.111377,0,1
12,15,15,17,20,15,23,28,
428.000000,85.000000,0.051112,14511548.000000,0.124082,0,1
20,17,24,20,24,32,23,30,
397.000000,87.000000,0.047176,60151796.000000,0.146013,0,1
19,19,24,18,23,32,29,42,
190.000000,88.000000,0.024731,14216952.000000,0.259113,0,1
10,12,11,14,19,15,17,19,
409.000000,91.000000,0.048215,22794640.000000,0.128187,0,1
39,36,33,34,31,24,27,27,
606.000000,92.000000,0.054323,33144312.000000,0.301368,0,1
8,13,10,20,18,15,22,21,
344.000000,93.000000,0.031558,2411792.000000,0.143020,0,1
16,12,16,9,11,15,7,6,
102.000000,94.000000,0.025865,55398752.000000,0.302992,0,1
17,18,16,17,14,12,13,9,
693.000000,94.000000,0.036592,145443568.000000,0.281778,0,1
28,23,26,14,18,23,12,13,
282.000000,96.000000,0.040733,18066670.000000,0.288517,0,1
11,12,10,14,15,11,19,19,
396.000000,96.000000,0.043536,23627040.000000,0.124929,0,1
20,23,23,23,26,33,29,33,
562.000000,97.000000,0.050411,7127693.000000,0.204188,0,1
12,15,15,20,19,22,23,28,
414.000000,99.000000,0.048299,30871058.000000,0.111342,0,1
20,18,31,16,27,36,20,28,
679.000000,102.000000,0.026981,74494968.000000,0.189677,0,1
12,10,12,11,14,18,18,20,
466.000000,104.000000,0.031653,1753035.375000,0.059347,0,1
8,9,8,17,14,9,17,11,
601.000000,104.000000,0.041992,9665118.000000,0.211840,0,1
22,22,14,19,14,9,14,12,
698.000000,104.000000,0.025965,115021960.000000,0.195278,0,1
27,21,28,16,19,19,13,11,
584.000000,108.000000,0.051428,12493164.000000,0.238685,0,1
28,28,23,25,23,18,18,18,
610.000000,119.000000,0.055482,23813408.000000,0.304526,0,1
24,23,25,23,21,20,18,15,
192.000000,120.000000,0.027763,49789680.000000,0.287305,0,1
13,10,14,8,11,16,8,8,
605.000000,125.000000,0.049665,6471320.000000,0.257661,0,1
23,21,24,17,21,21,14,17,
457.000000,127.000000,0.044650,11990004.000000,0.072777,0,1
30,44,61,49,54,53,40,28,
548.000000,128.000000,0.047758,18042236.000000,0.155781,0,1
16,12,16,11,17,22,15,24,
539.000000,133.000000,0.046800,15355254.000000,0.136884,0,1
19,23,14,21,15,11,14,10,
559.000000,135.000000,0.048671,35839696.000000,0.176252,0,1
20,15,16,15,19,24,18,22,
688.000000,135.000000,0.055697,24154580.000000,0.442453,0,1
17,17,19,20,23,24,27,27,
707.000000,138.000000,0.056915,58582392.000000,0.487405,0,1
20,24,20,25,20,15,17,13,
672.000000,142.000000,0.054619,34207356.000000,0.405140,0,1
21,22,20,20,18,14,16,13,
458.000000,143.000000,0.044620,5033620.000000,0.067243,0,1
16,11,27,10,15,23,11,16,
174.000000,145.000000,0.013309,29324232.000000,0.140470,0,1
20,16,20,11,15,16,10,10,
547.000000,145.000000,0.048002,30870976.000000,0.153715,0,1
15,15,23,18,22,29,23,29,
662.000000,145.000000,0.055774,17433276.000000,0.398004,0,1
16,21,18,18,14,12,14,9,
724.000000,145.000000,0.057838,63375524.000000,0.527123,0,1
18,18,19,13,20,15,10,9,
555.000000,146.000000,0.048513,21372578.000000,0.168977,0,1
30,32,25,29,25,26,23,21,
700.000000,147.000000,0.056648,41817984.000000,0.472920,0,1
25,20,26,19,19,19,14,13,
580.000000,150.000000,0.049531,46398356.000000,0.215400,0,1
17,12,17,11,19,24,17,23,
630.000000,151.000000,0.052330,54939116.000000,0.316173,0,1
21,19,20,13,17,14,9,8,
558.000000,152.000000,0.047547,16764300.000000,0.170698,0,1
29,26,25,17,18,28,14,15,
561.000000,153.000000,0.048506,44292112.000000,0.179857,0,1
28,28,21,21,22,14,19,16,
591.000000,155.000000,0.051199,18942890.000000,0.243645,0,1
21,21,20,19,16,14,15,11,
631.000000,158.000000,0.053235,22459574.000000,0.325580,0,1
10,14,12,18,19,14,22,23,
514.000000,163.000000,0.046297,7433189.500000,0.101188,0,1
18,14,20,10,15,20,9,10,
540.000000,163.000000,0.047901,9986595.000000,0.146661,0,1
29,27,28,23,22,25,18,14,
398.000000,178.000000,0.039138,3361486.750000,0.100408,0,1
16,13,18,12,17,19,18,24,
510.000000,181.000000,0.046887,21508620.000000,0.111886,0,1
13,16,17,21,23,26,30,33,
672.000000,181.000000,0.055104,102545296.000000,0.417605,0,1
20,19,22,22,26,30,33,37,
701.000000,181.000000,0.056609,123716640.000000,0.481584,0,1
19,19,22,23,28,29,31,30,
435.000000,182.000000,0.042697,6234415.500000,0.072355,0,1
16,22,19,25,27,20,27,27,
566.000000,182.000000,0.049742,21311736.000000,0.206041,0,1
18,19,20,23,26,25,30,33,
592.000000,182.000000,0.050564,19923676.000000,0.251749,0,1
15,19,18,28,27,27,33,38,
447.000000,183.000000,0.043875,7115670.500000,0.068730,0,1
18,19,18,24,24,24,29,33,
537.000000,183.000000,0.048804,19696424.000000,0.158138,0,1
18,19,19,28,30,29,34,37,
627.000000,183.000000,0.053664,27253032.000000,0.330403,0,1
25,23,23,31,28,28,36,38,
640.000000,183.000000,0.054240,13429321.000000,0.356798,0,1
20,25,23,28,28,31,36,41,
669.000000,183.000000,0.055722,166453968.000000,0.418874,0,1
20,22,28,26,32,36,34,41,
711.000000,183.000000,0.058009,10305867.000000,0.514287,0,1
21,25,25,30,28,28,36,45,
599.000000,187.000000,0.053472,113163936.000000,0.283921,0,1
38,37,46,39,43,50,34,24,
613.000000,187.000000,0.053925,113568432.000000,0.310621,0,1
43,41,52,41,43,39,37,26,
535.000000,188.000000,0.049487,9697147.000000,0.162203,0,1
36,34,37,26,28,29,26,31,
716.000000,188.000000,0.059940,141380576.000000,0.546184,0,1
39,43,45,44,45,51,33,28,
241.000000,189.000000,0.036775,8944780.000000,0.320903,0,1
11,11,10,13,12,12,18,19,
760.000000,189.000000,0.062523,331064352.000000,0.657528,0,1
45,57,43,48,41,35,32,32,
263.000000,190.000000,0.038607,16674786.000000,0.303580,0,1
10,12,12,16,18,16,21,19,
402.000000,190.000000,0.046800,6880969.500000,0.130313,0,1
25,25,23,27,29,28,34,34,
302.000000,192.000000,0.041892,18170662.000000,0.266968,0,1
14,15,14,19,16,14,21,21,
365.000000,196.000000,0.049993,12517712.000000,0.209216,0,1
20,19,18,25,24,24,30,32,
735.000000,196.000000,0.068181,59426540.000000,0.684246,0,1
30,35,35,37,42,41,45,45,
388.000000,197.000000,0.051465,22973884.000000,0.177387,0,1
19,22,21,31,30,30,35,33,
399.000000,197.000000,0.052276,19622444.000000,0.162976,0,1
18,21,18,27,26,25,33,32,
406.000000,197.000000,0.052204,21606250.000000,0.152247,0,1
23,19,19,24,25,24,34,36,
486.000000,197.000000,0.055531,26744376.000000,0.131261,0,1
40,39,40,31,32,32,26,32,
603.000000,197.000000,0.062140,30906896.000000,0.356677,0,1
25,27,27,35,36,37,41,33,
699.000000,197.000000,0.067943,47562904.000000,0.606828,0,1
25,27,27,33,33,34,43,46,
419.000000,198.000000,0.053851,29375248.000000,0.141870,0,1
22,22,23,33,33,33,39,37,
569.000000,198.000000,0.059984,44654792.000000,0.278538,0,1
34,39,39,32,31,32,29,28,
720.000000,198.000000,0.068982,68100536.000000,0.663909,0,1
30,32,33,40,41,43,47,37,
563.000000,199.000000,0.059696,31523544.000000,0.266933,0,1
41,38,36,30,30,31,26,27,
620.000000,199.000000,0.063391,64783100.000000,0.401539,0,1
37,44,39,31,30,24,29,28,
647.000000,199.000000,0.065159,87775624.000000,0.471425,0,1
28,43,37,31,31,27,26,28,
585.000000,200.000000,0.061413,73316368.000000,0.319417,0,1
41,33,36,29,37,45,28,35,
705.000000,200.000000,0.069238,51419456.000000,0.636203,0,1
41,43,45,31,31,37,24,30,
391.000000,201.000000,0.058054,48239392.000000,0.205750,0,1
32,34,35,43,42,42,55,59,
669.000000,202.000000,0.067929,100909488.000000,0.546279,0,1
29,29,30,36,35,34,43,47,
689.000000,203.000000,0.072085,24886208.000000,0.635498,0,1
32,31,32,41,40,39,48,47,
482.000000,204.000000,0.065426,47260552.000000,0.173228,0,1
41,44,43,54,53,51,62,65,
490.000000,204.000000,0.065825,41480276.000000,0.182633,0,1
41,43,40,49,49,48,58,64,
503.000000,204.000000,0.066400,46209440.000000,0.201576,0,1
40,40,41,45,47,47,56,62,
565.000000,206.000000,0.071495,71340936.000000,0.349058,0,1
40,43,43,50,51,51,61,68,
321.000000,207.000000,0.061337,41889400.000000,0.387356,0,1
36,33,35,39,38,40,47,52,
635.000000,207.000000,0.075947,41533060.000000,0.550883,0,1
46,46,44,51,51,51,59,65,
647.000000,208.000000,0.077113,44133116.000000,0.593139,0,1
45,48,48,56,55,56,63,69,
684.000000,208.000000,0.079154,76151304.000000,0.708952,0,1
45,46,46,50,50,51,63,67,
655.000000,209.000000,0.078201,98538848.000000,0.625511,0,1
47,54,52,61,63,63,68,70,
670.000000,209.000000,0.078595,84071448.000000,0.667868,0,1
45,51,51,59,61,62,67,72,
755.000000,210.000000,0.084371,87928080.000000,0.965260,0,1
46,49,50,58,59,59,67,70,
377.000000,211.000000,0.068387,21152210.000000,0.303586,0,1
39,46,51,46,48,53,59,57,
517.000000,211.000000,0.073380,58740472.000000,0.269534,0,1
56,49,47,60,55,59,63,58,
571.000000,211.000000,0.076560,77841304.000000,0.403941,0,1
68,67,67,58,59,61,47,40,
389.000000,212.000000,0.068585,42894220.000000,0.279975,0,1
47,52,53,62,56,54,59,62,
578.000000,212.000000,0.077624,155064896.000000,0.430052,0,1
67,60,60,43,44,46,35,40,
335.000000,213.000000,0.068309,5264561.000000,0.413132,0,1
46,48,52,48,54,61,55,61,
433.000000,213.000000,0.073332,34079444.000000,0.230018,0,1
57,54,52,60,61,64,64,63,
459.000000,213.000000,0.074417,61459928.000000,0.219643,0,1
51,46,47,60,61,61,66,71,
616.000000,213.000000,0.080448,98960848.000000,0.551342,0,1
66,67,69,62,58,59,52,47,
316.000000,214.000000,0.068110,43269588.000000,0.465905,0,1
43,45,46,47,54,52,58,51,
510.000000,214.000000,0.077576,70719952.000000,0.284558,0,1
61,54,52,60,58,58,66,63,
407.000000,215.000000,0.071277,32630192.000000,0.264680,0,1
65,60,57,56,52,52,46,47,
450.000000,215.000000,0.076769,19730940.000000,0.237242,0,1
60,57,65,63,69,72,71,72,
137.000000,216.000000,0.058695,38755868.000000,0.694539,0,1
41,35,37,28,30,31,23,23,
424.000000,216.000000,0.076414,41311832.000000,0.263539,0,1
54,51,61,61,63,62,66,69,
433.000000,217.000000,0.077389,50412236.000000,0.259447,0,1
63,59,69,59,64,73,73,76,
578.000000,217.000000,0.084876,133081296.000000,0.493677,0,1
44,46,46,53,56,54,61,65,
584.000000,217.000000,0.085371,54145508.000000,0.513987,0,1
41,43,43,55,51,49,57,57,
728.000000,219.000000,0.093160,80604072.000000,1.031972,0,1
65,64,64,58,57,56,49,50,
696.000000,220.000000,0.093373,109470832.000000,0.938253,0,1
56,48,51,51,51,53,60,60,
155.000000,221.000000,0.064473,185066528.000000,0.733960,0,1
44,35,44,28,36,46,31,34,
328.000000,221.000000,0.073294,90692728.000000,0.487026,0,1
69,61,60,62,51,53,49,38,
534.000000,221.000000,0.086460,116436184.000000,0.401419,0,1
49,45,45,55,57,56,63,59,
662.000000,221.000000,0.092967,102496592.000000,0.828616,0,1
46,50,48,54,55,53,62,61,
244.000000,222.000000,0.068770,25178812.000000,0.702844,0,1
40,28,30,30,33,35,36,35,
508.000000,222.000000,0.087262,72025624.000000,0.354461,0,1
44,47,51,57,55,59,60,65,
653.000000,222.000000,0.094688,240475280.000000,0.822931,0,1
51,54,51,60,58,56,67,63,
163.000000,223.000000,0.067258,146300384.000000,0.752670,0,1
30,37,32,33,34,31,48,46,
288.000000,223.000000,0.074875,270578752.000000,0.633096,0,1
44,38,41,46,45,44,58,62,
399.000000,223.000000,0.083081,110351688.000000,0.366739,0,1
55,59,63,57,61,66,63,75,
580.000000,224.000000,0.092818,132898464.000000,0.579731,0,1
55,55,56,61,62,64,70,73,
683.000000,224.000000,0.097689,52396548.000000,0.962508,0,1
57,60,57,65,64,61,69,71,
412.000000,225.000000,0.085921,159150032.000000,0.361821,0,1
61,60,59,73,72,71,78,68,
543.000000,226.000000,0.092510,65072468.000000,0.478420,0,1
72,77,73,73,70,72,67,66,
559.000000,226.000000,0.092802,193049712.000000,0.523804,0,1
72,76,73,69,57,67,50,53,
570.000000,226.000000,0.092910,249173248.000000,0.555897,0,1
69,64,62,55,52,60,47,49,
263.000000,227.000000,0.079873,44243180.000000,0.790475,0,1
45,49,54,52,57,61,60,64,
528.000000,227.000000,0.094101,160157200.000000,0.455107,0,1
59,51,57,63,62,63,77,78,
608.000000,227.000000,0.096362,120477640.000000,0.706524,0,1
61,62,58,67,63,60,59,55,
659.000000,227.000000,0.098527,279571168.000000,0.898980,0,1
53,60,65,58,64,71,69,71,
223.000000,228.000000,0.075613,58064876.000000,0.882175,0,1
32,32,34,39,45,49,50,54,
231.000000,229.000000,0.076571,65065704.000000,0.867956,0,1
38,44,48,46,50,54,53,61,
466.000000,229.000000,0.092500,58206408.000000,0.362324,0,1
78,79,78,79,76,78,68,64,
696.000000,229.000000,0.101467,187393552.000000,1.068675,0,1
60,61,63,72,73,73,78,73,
735.000000,229.000000,0.103887,158465424.000000,1.242289,0,1
54,54,58,65,63,66,70,72,
403.000000,231.000000,0.090317,94558408.000000,0.429590,0,1
78,77,72,72,67,63,67,68,
216.000000,232.000000,0.078014,92124256.000000,0.953061,0,1
43,51,52,58,62,64,65,66,
471.000000,232.000000,0.097264,78087640.000000,0.404413,0,1
65,64,66,71,70,72,74,74,
481.000000,232.000000,0.096731,114790264.000000,0.408220,0,1
76,74,69,73,77,77,81,80,
523.000000,232.000000,0.097137,261444128.000000,0.481341,0,1
78,74,76,52,61,70,42,49,
643.000000,233.000000,0.103432,143684032.000000,0.919014,0,1
65,62,66,74,73,74,78,79,
196.000000,234.000000,0.079108,199234144.000000,1.055876,0,1
34,38,39,50,48,46,58,58,
315.000000,234.000000,0.089188,85577584.000000,0.716579,0,1
71,73,68,72,64,72,59,58,
397.000000,234.000000,0.094138,94606808.000000,0.482185,0,1
73,74,76,70,70,71,60,60,
279.000000,235.000000,0.087896,179162640.000000,0.848937,0,1
68,70,72,61,65,69,55,49,
283.000000,236.000000,0.087742,109794432.000000,0.832247,0,1
70,69,70,65,61,64,54,56,
408.000000,236.000000,0.098738,128334136.000000,0.496068,0,1
65,60,62,66,66,70,72,76,
581.000000,236.000000,0.105882,118156856.000000,0.738358,0,1
78,79,79,74,74,78,68,72,
335.000000,237.000000,0.095646,123373328.000000,0.716507,0,1
69,67,66,70,66,61,71,66,
265.000000,239.000000,0.090589,129913584.000000,0.956259,0,1
59,57,61,62,62,66,67,66,
458.000000,239.000000,0.087008,8509154.000000,0.370477,0,1
74,75,75,74,72,66,72,73,
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66,67,66,58,59,57,47,47,
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66,64,65,55,56,56,43,41,
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32,25,25,13,18,15,11,10,
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68,69,71,54,55,59,51,48,
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48,46,47,54,54,54,64,71,
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48,47,48,51,52,53,66,68,
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34,41,35,32,37,29,30,30,
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28,28,31,30,36,36,36,36,
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15,14,16,14,19,25,21,24,
523.000000,187.000000,0.049130,26541908.000000,0.142688,0,1
36,40,37,50,41,33,37,34,
535.000000,138.000000,0.047350,20849772.000000,0.131699,0,1
17,14,20,11,18,26,16,23,
458.000000,203.000000,0.064105,49899964.000000,0.155930,0,1
39,41,42,47,50,50,58,64,
423.000000,203.000000,0.062496,25531258.000000,0.175486,0,1
39,43,44,50,49,51,57,60,
419.000000,142.000000,0.039809,3327466.000000,0.059992,0,1
9,15,9,21,15,11,20,17,
499.000000,142.000000,0.045472,3987320.250000,0.068529,0,1
11,7,14,8,15,18,15,19,
610.000000,202.000000,0.066668,31633118.000000,0.409018,0,1
27,29,28,37,37,36,44,46,
402.000000,202.000000,0.059484,45450280.000000,0.194027,0,1
36,42,42,50,50,49,60,60,
382.000000,201.000000,0.057920,27512150.000000,0.222016,0,1
33,36,36,42,43,43,51,51,
412.000000,144.000000,0.040151,1542593.500000,0.066964,0,1
10,12,11,20,14,16,20,24,
528.000000,149.000000,0.047463,6693669.000000,0.121227,0,1
24,25,20,18,19,17,13,12,
561.000000,108.000000,0.049498,3661167.500000,0.191657,0,1
23,22,20,20,18,13,15,9,
492.000000,209.000000,0.071050,78337272.000000,0.216493,0,1
64,66,65,52,53,54,49,59,
743.000000,38.000000,0.066342,214723040.000000,0.699302,0,1
29,31,24,32,25,17,26,23,
198.000000,40.000000,0.042235,10060216.000000,0.479949,0,1
24,22,24,20,21,21,18,14,
723.000000,209.000000,0.082144,57713936.000000,0.848405,0,1
46,51,51,59,58,58,66,71,
484.000000,225.000000,0.089427,60358844.000000,0.341658,0,1
61,62,63,68,67,67,74,75,
333.000000,69.000000,0.045204,21007544.000000,0.252628,0,1
23,29,24,38,31,32,38,30,
755.000000,220.000000,0.095700,33684192.000000,0.967039,0,1
68,68,69,61,61,62,54,53,
407.000000,258.000000,0.121225,49474160.000000,0.460272,0,1
73,63,63,73,64,71,73,71,
436.000000,257.000000,0.121565,100281728.000000,0.429224,0,1
74,72,70,68,61,57,57,61,
269.000000,82.000000,0.044005,145057776.000000,0.346039,0,1
22,25,14,23,16,10,17,12,
486.000000,34.000000,0.051441,45080000.000000,0.211383,0,1
32,32,29,27,24,18,18,18,
295.000000,238.000000,0.091475,111662512.000000,0.835523,0,1
70,72,75,64,68,71,63,59,
267.000000,60.000000,0.042882,58450868.000000,0.352001,0,1
25,21,20,26,22,26,30,29,
