# timestamp
1602074877555449600

# fx, fy, cx, cy, width, height, npoints
501.475800,501.475800,421.795532,167.657944,800,400,87

# camToWorld: translation vector, rotation quaternion
0.179570,-0.512564,-0.008896,-0.001500,-0.730311,0.683105,-0.003181

# Exposure time (ms)
0.245718

# Point Cloud Data : 
# u,v,idepth_scaled,idepth_hessian,maxRelBaseline,numGoodRes,status 
# color information 
123.000000,21.000000,0.032925,4626057.500000,0.050341,0,1
32,37,24,31,30,22,26,22,
74.000000,28.000000,0.048863,1720811.500000,0.197317,0,1
30,27,29,25,26,27,24,21,
297.000000,34.000000,0.045383,7281672.000000,0.083296,0,1
18,21,22,24,31,34,33,37,
495.000000,45.000000,0.058675,17585812.000000,0.088891,0,1
23,23,31,18,25,32,18,16,
658.000000,46.000000,0.058766,1183059.875000,0.141725,0,1
27,29,31,27,29,26,20,19,
109.000000,51.000000,0.047563,5155075.000000,0.170951,0,1
18,17,16,20,23,21,24,25,
575.000000,57.000000,0.037006,1461326.000000,0.059568,0,1
15,15,16,15,21,18,22,24,
693.000000,62.000000,0.058430,6465256.500000,0.155992,0,1
26,34,25,43,33,19,30,20,
512.000000,86.000000,0.035310,1262544.250000,0.053212,0,1
15,26,14,26,19,14,20,19,
257.000000,93.000000,0.042836,2304083.250000,0.082736,0,1
17,24,17,20,18,11,13,8,
534.000000,104.000000,0.048541,924958.500000,0.073152,0,1
8,9,12,9,10,18,9,14,
387.000000,120.000000,0.037895,610123.375000,0.057532,0,1
11,14,10,17,16,13,19,17,
508.000000,124.000000,0.027174,963583.125000,0.040952,0,1
11,20,10,21,17,10,19,17,
601.000000,133.000000,0.050793,1150835.500000,0.083227,0,1
11,14,18,20,21,21,24,27,
618.000000,138.000000,0.054283,526120.500000,0.098153,0,1
28,27,26,23,21,21,19,14,
260.000000,140.000000,0.023325,411835.406250,0.041769,0,1
6,8,5,10,7,5,10,9,
626.000000,142.000000,0.052570,1307902.750000,0.098950,0,1
12,13,18,18,16,20,19,17,
479.000000,144.000000,0.028066,711762.125000,0.042296,0,1
20,12,26,11,20,21,13,15,
138.000000,149.000000,0.013014,3898892.750000,0.039512,0,1
20,21,17,15,15,10,12,11,
188.000000,153.000000,0.012534,3166993.750000,0.031508,0,1
15,15,21,13,19,23,14,14,
401.000000,157.000000,0.039233,2014490.000000,0.059124,0,1
19,16,25,14,20,22,13,18,
222.000000,170.000000,0.030481,1039382.937500,0.067533,0,1
6,6,7,5,6,11,7,11,
533.000000,172.000000,0.048639,1868181.375000,0.073327,0,1
11,8,13,8,15,19,13,17,
653.000000,179.000000,0.055987,6584986.000000,0.122086,0,1
14,14,18,15,22,28,25,32,
762.000000,179.000000,0.060634,2167820.500000,0.196016,0,1
17,16,16,16,20,19,28,30,
559.000000,182.000000,0.050096,533701.187500,0.075495,0,1
21,21,18,24,22,23,30,31,
663.000000,182.000000,0.055383,1325522.500000,0.126272,0,1
18,19,19,26,25,26,29,31,
694.000000,183.000000,0.055017,1068846.500000,0.141737,0,1
27,25,27,32,27,27,38,40,
472.000000,186.000000,0.045438,3140201.000000,0.068475,0,1
28,31,34,29,40,42,33,28,
586.000000,189.000000,0.054287,1152921.250000,0.084660,0,1
40,40,38,29,28,27,21,22,
665.000000,192.000000,0.062252,1836748.750000,0.145296,0,1
25,23,24,26,31,30,32,39,
343.000000,196.000000,0.047807,510563.187500,0.072045,0,1
18,18,17,25,25,24,29,29,
542.000000,198.000000,0.058444,1266691.000000,0.088076,0,1
39,40,40,30,31,32,28,29,
632.000000,198.000000,0.063208,958799.000000,0.128710,0,1
27,27,25,37,35,33,40,31,
346.000000,200.000000,0.054549,720734.437500,0.083388,0,1
29,32,33,38,38,37,43,44,
359.000000,200.000000,0.057102,636937.875000,0.091416,0,1
31,32,33,37,38,39,43,49,
680.000000,201.000000,0.067709,5898174.000000,0.169972,0,1
37,33,42,26,36,35,28,35,
470.000000,208.000000,0.071647,1662296.375000,0.111414,0,1
64,64,66,63,64,64,48,47,
608.000000,214.000000,0.083380,1229765.750000,0.158733,0,1
65,63,65,51,56,59,46,46,
268.000000,215.000000,0.067806,1263451.875000,0.131341,0,1
38,40,40,40,42,42,50,56,
127.000000,217.000000,0.058721,2840417.250000,0.199311,0,1
33,33,36,26,24,25,23,28,
255.000000,218.000000,0.072752,452359.687500,0.152091,0,1
32,34,35,37,38,45,42,46,
572.000000,218.000000,0.084870,2646906.750000,0.135309,0,1
42,44,43,60,57,55,65,67,
215.000000,222.000000,0.068786,1022610.875000,0.172412,0,1
33,30,31,36,37,35,39,34,
586.000000,225.000000,0.094381,4340801.000000,0.167221,0,1
54,59,62,67,69,70,73,76,
432.000000,228.000000,0.090867,1980517.375000,0.138956,0,1
81,79,82,77,76,82,69,65,
521.000000,228.000000,0.095178,5447037.500000,0.144158,0,1
52,52,50,60,57,60,71,78,
171.000000,229.000000,0.071798,4683233.500000,0.215472,0,1
22,22,23,33,27,28,35,33,
730.000000,229.000000,0.106164,1612391.125000,0.337277,0,1
59,56,56,61,61,62,68,71,
440.000000,232.000000,0.092061,1851231.125000,0.138737,0,1
66,64,67,75,74,73,77,75,
609.000000,235.000000,0.106396,8305929.500000,0.218596,0,1
56,61,60,65,71,70,78,79,
685.000000,240.000000,0.113367,2259966.000000,0.318063,0,1
82,81,80,73,74,76,69,72,
465.000000,242.000000,0.106483,955582.312500,0.161279,0,1
73,61,73,73,72,76,76,76,
317.000000,243.000000,0.100738,1870381.000000,0.170299,0,1
76,73,73,69,66,70,63,59,
739.000000,247.000000,0.123847,5740106.000000,0.419070,0,1
75,76,76,77,75,73,64,63,
563.000000,248.000000,0.117829,2576874.750000,0.206766,0,1
80,75,76,75,70,73,68,71,
251.000000,249.000000,0.104048,1729023.750000,0.244699,0,1
66,57,60,61,58,66,64,70,
354.000000,249.000000,0.110375,1765474.250000,0.166336,0,1
71,69,70,64,64,70,62,63,
380.000000,260.000000,0.123694,2411965.500000,0.189026,0,1
62,64,67,70,67,72,74,77,
458.000000,260.000000,0.126783,4036208.250000,0.191809,0,1
73,72,71,68,64,63,62,64,
581.000000,260.000000,0.130830,3249941.500000,0.263161,0,1
78,79,75,79,76,73,80,80,
750.000000,260.000000,0.138951,2561902.750000,0.499502,0,1
71,71,71,66,66,69,60,61,
448.000000,264.000000,0.129499,2522125.750000,0.197441,0,1
69,71,72,70,69,68,63,58,
159.000000,267.000000,0.114299,1583401.250000,0.391771,0,1
61,62,62,65,67,67,69,74,
604.000000,267.000000,0.139297,3857845.750000,0.316519,0,1
73,73,71,69,68,69,61,63,
504.000000,269.000000,0.137014,3458970.500000,0.214465,0,1
73,73,73,70,69,66,64,60,
232.000000,272.000000,0.126104,6150005.000000,0.344815,0,1
63,56,67,54,63,67,59,65,
249.000000,276.000000,0.132193,2333355.500000,0.345128,0,1
63,57,66,58,65,68,66,70,
508.000000,276.000000,0.145566,7260813.000000,0.243099,0,1
74,73,72,70,72,77,60,58,
712.000000,277.000000,0.154173,2166518.000000,0.518295,0,1
66,67,66,61,65,64,56,51,
75.000000,279.000000,0.123463,3318700.250000,0.194191,0,1
28,27,28,26,31,37,30,35,
303.000000,279.000000,0.140561,5424162.500000,0.304414,0,1
66,65,67,65,57,64,51,62,
185.000000,280.000000,0.131911,4517328.500000,0.432961,0,1
63,66,66,64,60,64,56,63,
720.000000,281.000000,0.157848,7312117.000000,0.547963,0,1
58,59,54,60,63,63,66,69,
500.000000,285.000000,0.152858,4181500.500000,0.265516,0,1
71,69,72,60,69,72,62,69,
400.000000,290.000000,0.156791,1108144.750000,0.238307,0,1
73,74,75,66,69,71,68,70,
530.000000,291.000000,0.164656,1358242.750000,0.251199,0,1
66,68,68,69,74,72,73,75,
745.000000,293.000000,0.170353,11698346.000000,0.650903,0,1
60,57,63,51,61,66,63,66,
48.000000,298.000000,0.142017,3499314.500000,0.240282,0,1
56,53,44,47,33,25,19,18,
338.000000,285.000000,0.148269,1118549.375000,0.291916,0,1
61,67,63,66,66,67,67,70,
742.000000,266.000000,0.142691,4391237.000000,0.507404,0,1
65,66,67,65,64,63,56,63,
354.000000,256.000000,0.118125,2010265.875000,0.181343,0,1
64,62,66,66,67,64,71,77,
276.000000,215.000000,0.066330,1157657.250000,0.123006,0,1
39,41,39,41,43,41,54,43,
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11,10,16,16,15,19,17,19,
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70,69,69,60,60,59,53,53,
663.000000,35.000000,0.028380,4566234.000000,0.042769,0,1
42,39,41,24,29,28,22,27,
254.000000,79.000000,0.044243,889565.125000,0.088861,0,1
24,29,25,33,29,30,34,35,
